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problem.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_PROBLEM_H
00020 #define MSL_PROBLEM_H
00021 
00022 #include <LEDA/file.h>
00023 #include <LEDA/array.h>
00024 #include <LEDA/list.h>
00025 #include <LEDA/matrix.h>
00026 #include <LEDA/point.h>
00027 #include <LEDA/polygon.h>
00028 #include <LEDA/stream.h>
00029 #include <LEDA/string.h>
00030 #include <LEDA/vector.h>
00031 
00032 #include "model.h"
00033 #include "geom.h"
00034 
00035 #include <LEDA/REDEFINE_NAMES.h>
00036 
00038 
00047 class Problem {
00048  protected:
00050   Geom *G;
00052   Model *M;
00053  public:
00055   string FilePath;
00056 
00058   int NumBodies;
00059 
00061   int StateDim;
00062 
00064   int InputDim;
00065 
00067   int GeomDim;
00068 
00070   vector LowerState;
00071 
00073   vector UpperState;
00074 
00076   vector InitialState;
00077 
00079   vector GoalState;
00080 
00083   Problem(Geom *geom, Model *model, string path);
00084 
00086   virtual ~Problem() {};
00087 
00089   void SetGeom(Geom *geom);
00090 
00092   void SetModel(Model *model);
00093 
00095   void ReadInitialState();
00096 
00098   void ReadGoalState();
00099 
00101   virtual list<vector> GetInputs(const vector &x);
00102 
00104   virtual list<vector> GetInputs();
00105 
00107   virtual vector Integrate(const vector &x, const vector &u, 
00108                            const double &deltat);
00109 
00111 
00115   virtual vector InterpolateState(const vector &x1, const vector &x2, 
00116                                    const double &a);  // Depends on topology
00117 
00119   virtual double Metric(const vector &x1, const vector &x2);
00120 
00122   virtual vector StateToConfiguration(const vector &x);
00123 
00125   virtual point StateToLedaPoint(const vector &x); 
00126 
00130   virtual vector StateDifference(const vector &x1, 
00131                                  const vector &x2); 
00132 
00135   virtual bool Satisfied(const vector &x);
00136 
00138   virtual bool CollisionFree(const vector &q);
00139 
00141   virtual double DistanceComp(const vector &q); 
00142 
00144   virtual list<polygon> EnvironmentToLedaPolygons();
00145 
00147   virtual list<polygon> RobotToLedaPolygons(const vector &q);
00148 
00150   vector MaxDeviates; 
00151 
00155   virtual vector ConfigurationDifference(const vector &q1, 
00156                                          const vector &q2); 
00157 };
00158 
00159 #include <LEDA/UNDEFINE_NAMES.h>
00160 
00161 #endif
Motion Strategy Library


Web page maintained by Steve LaValle
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.