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model.h

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00001 //----------------------------------------------------------------------
00002 //               The Motion Strategy Library (MSL)
00003 //----------------------------------------------------------------------
00004 //
00005 // Copyright (c) University of Illinois and Steven M. 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 // The University of Illinois 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_MODEL_H
00020 #define MSL_MODEL_H
00021 
00022 #ifdef WIN32
00023         #include <list>
00024         #include <string>
00025         using namespace std;
00026 #else
00027         #include <list.h>
00028         #include <string>
00029 #endif
00030 
00031 #include "vector.h"
00032 #include "matrix.h"
00033 
00035 
00043 
00044 class Model {
00045  protected:
00047   double ModelDeltaT;
00048 
00050   list<MSLVector> Inputs;
00051 
00053   MSLVector RungeKuttaIntegrate(const MSLVector &x, const MSLVector &u, const double &h);
00054 
00056   MSLVector EulerIntegrate(const MSLVector &x, const MSLVector &u, const double &h);
00057  public:
00058 
00060   string FilePath;
00061 
00063   MSLVector LowerState; 
00064 
00066   MSLVector UpperState;
00067 
00069   MSLVector LowerInput;
00070 
00072   MSLVector UpperInput;
00073 
00075   int StateDim;
00076   
00078   int InputDim;
00079 
00081   Model(string path);
00082 
00084   virtual ~Model() {};
00085 
00087   virtual list<MSLVector> GetInputs(const MSLVector &x);
00088 
00090   virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u) = 0;
00091 
00093   virtual bool Satisfied(const MSLVector &x);
00094 
00096   virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, 
00097                            const double &h) = 0; 
00098 
00100 
00104   virtual MSLVector LinearInterpolate(const MSLVector &x1, const MSLVector &x2, 
00105                                    const double &a);  // Depends on topology
00106 
00110   virtual MSLVector StateDifference(const MSLVector &x1, const MSLVector &x2); 
00111 
00112   // Conversions
00114   virtual MSLVector StateToConfiguration(const MSLVector &x);
00115 
00117   virtual double Metric(const MSLVector &x1, const MSLVector &x2); 
00118 
00119   // The following are used by optimization methods.  They are empty by
00120   // default because regular planners don't need them.  These could later
00121   // go in a derived class for optimization problems, but are left here
00122   // so that "regular" models can be converted to optimization models
00123   // by overriding these methods.
00124 
00126   virtual void Partialf_x(const MSLVector &x, const MSLVector &u, MSLMatrix & m) {};
00127 
00129   virtual void Partialf_u(const MSLVector &x, const MSLVector &u, MSLMatrix & m) {};
00130 
00132   virtual void L(const MSLVector &x, const MSLVector &u, double &l) {};
00133 
00135   virtual void PartialL_x(const MSLVector &x, const MSLVector &u, MSLMatrix & m) {};
00136 
00138   virtual void PartialL_u(const MSLVector &x, const MSLVector &u, MSLMatrix & m) {};
00139 
00141   virtual void Phi(const MSLVector &x, const MSLVector &u, 
00142                    const MSLVector &goalstate, double &phi) {};
00143 
00145   virtual void PartialPhi_x(const MSLVector &x, const MSLVector &u, 
00146                             const MSLVector &goalstate, 
00147                             MSLMatrix & m) {};
00148 
00150   virtual void PartialPhi_t(const MSLVector &x, const MSLVector &u, 
00151                             const MSLVector &goalstate, 
00152                             MSLMatrix & m) {};
00153 
00155   virtual void Psi(const MSLVector &x, const MSLVector &goalstate, MSLVector& psi) {};
00156 
00158   virtual void PartialPsi_x(const MSLVector &x, const MSLVector &u, MSLMatrix & m) {};
00159 
00161   virtual void PartialPsi_t(const MSLVector &x, const MSLVector &u, MSLMatrix & m) {};
00162 
00163 };
00164 
00165 #endif
Motion Strategy Library


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