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_SCENE_H 00020 #define MSL_SCENE_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 "problem.h" 00033 00034 #include <LEDA/REDEFINE_NAMES.h> 00035 00039 00047 class Scene { 00048 protected: 00050 Problem *P; 00051 00052 public: 00054 string FilePath; 00055 00057 int GeomDim; 00058 00060 int NumBodies; 00061 00063 int SceneConfigurationDim; 00064 00066 vector LowerWorld; 00067 00069 vector UpperWorld; 00070 00072 vector GlobalCameraPosition; 00073 00075 vector GlobalCameraDirection; 00076 00078 vector GlobalCameraZenith; 00079 00081 vector AttachedCameraPosition; 00082 00084 vector AttachedCameraDirection; 00085 00087 vector AttachedCameraZenith; 00088 00090 int AttachedCameraBody; 00091 00093 Scene(Problem *problem, string path); 00094 00096 virtual ~Scene() {}; 00097 00099 void SetProblem(Problem *P); 00100 00102 virtual vector StateToSceneConfiguration(const vector &x); 00103 00105 virtual vector InterpolatedSceneConfiguration(const vector &x1, 00106 const vector &x2, 00107 const double &a); 00108 }; 00109 00110 #include <LEDA/UNDEFINE_NAMES.h> 00111 00112 #endif