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geom.C

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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 #include <fstream.h>
00020 #include <math.h>
00021 
00022 #include "geom.h"
00023 #include "defs.h"
00024 
00025 
00026 Geom::Geom(string path = "") {
00027 
00028   if ((path.length() > 0)&&(path[path.length()-1] != '/'))
00029     path += "/";
00030   FilePath = path;
00031 
00032   READ_PARAMETER_OR_DEFAULT(GeomDim,3);
00033 
00034 }
00035 
00036 
00037 
00038 MSLVector Geom::ConfigurationDifference(const MSLVector &q1, 
00039                                         const MSLVector &q2)
00040 {
00041   return (q2 - q1);  // By default, assume no topological problems
00042 }
00043 
00044 
00045 
00046 
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.