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model3d.h

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00001 //----------------------------------------------------------------------
00002 //               The Motion Strategy Library (MSL)
00003 //----------------------------------------------------------------------
00004 //
00005 // Copyright (c) 1998-2000 Iowa State University and Steve LaValle.  
00006 // All Rights Reserved.
00007 // 
00008 // Permission to use, copy, and distribute this software and its 
00009 // documentation is hereby granted free of charge, provided that 
00010 // (1) it is not a component of a commercial product, and 
00011 // (2) this notice appears in all copies of the software and
00012 //     related documentation. 
00013 // 
00014 // Iowa State University and the author make no representations
00015 // about the suitability or fitness of this software for any purpose.  
00016 // It is provided "as is" without express or implied warranty.
00017 //----------------------------------------------------------------------
00018 
00019 #ifndef MSL_MODEL3D_H
00020 #define MSL_MODEL3D_H
00021 
00022 #include <LEDA/file.h>
00023 #include <LEDA/list.h>
00024 #include <LEDA/matrix.h>
00025 #include <LEDA/point.h>
00026 #include <LEDA/polygon.h>
00027 #include <LEDA/random.h>
00028 #include <LEDA/stream.h>
00029 #include <LEDA/string.h>
00030 #include <LEDA/vector.h>
00031 
00032 #include "model.h"
00033 
00034 #include <LEDA/REDEFINE_NAMES.h>
00035 
00037 class Model3D: public Model {
00038  public:
00039   Model3D(string path);
00040   virtual ~Model3D() {}
00041 };
00042 
00043 
00045 class Model3DRigid: public Model3D {
00046  public:
00047   Model3DRigid(string path);
00048   virtual ~Model3DRigid() {}
00049   virtual vector Integrate(const vector &x, const vector &u, const double &h);
00050   vector StateTransitionEquation(const vector &x, const vector &u);
00051   virtual double Metric(const vector &x1, const vector &x2);
00052   virtual vector LinearInterpolate(const vector &x1, const vector &x2, 
00053                                    const double &a);  // Depends on topology
00054 };
00055 
00056 
00058 class Model3DRigidMulti: public Model3DRigid {
00059  public:
00060   int NumBodies;
00061   Model3DRigidMulti(string path);
00062   virtual ~Model3DRigidMulti() {}
00063   virtual double Metric(const vector &x1, const vector &x2);
00064   virtual vector LinearInterpolate(const vector &x1, const vector &x2, 
00065                                    const double &a);  // Depends on topology
00066 };
00067 
00068 
00078 
00079 class Model3DRigidChain: public Model3DRigid {
00080  public:
00082   int NumBodies;
00083 
00085   vector DH;
00086 
00087   array<int> StateIndices;
00088 
00089   Model3DRigidChain(string path);
00090   virtual ~Model3DRigidChain() {};
00091   virtual vector StateTransitionEquation(const vector &x, const vector &u);
00092   virtual vector StateToConfiguration(const vector &x);
00093   virtual vector LinearInterpolate(const vector &x1, const vector &x2, 
00094                                    const double &a);
00095   virtual double Metric(const vector &x1, const vector &x2);
00096   virtual bool Satisfied(const vector &x);
00097 };
00098 
00099 
00115 
00116 class Model3DRigidTree: public Model3DRigid {
00117  public:
00119   int NumBodies;
00120 
00122   vector DH;
00123 
00124   array<int> StateIndices;
00125 
00126   array<int> Parents;
00127 
00128   Model3DRigidTree(string path);
00129   virtual ~Model3DRigidTree() {};
00130   virtual vector StateTransitionEquation(const vector &x, const vector &u);
00131   virtual vector StateToConfiguration(const vector &x);
00132   virtual vector LinearInterpolate(const vector &x1, const vector &x2, 
00133                                    const double &a);
00134   virtual double Metric(const vector &x1, const vector &x2);
00135   virtual bool Satisfied(const vector &x);
00136 };
00137 
00138 
00139 #include <LEDA/UNDEFINE_NAMES.h>
00140 
00141 #endif
Motion Strategy Library


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Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research, and Iowa State University.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.