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