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modelmisc.h

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00001 //----------------------------------------------------------------------
00002 //               The Motion Strategy Library (MSL)
00003 //----------------------------------------------------------------------
00004 //
00005 // Copyright (c) University of Illinois 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 // 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_MODELMISC_H
00020 #define MSL_MODELMISC_H
00021 
00022 #ifdef WIN32
00023         #include <string>
00024         using namespace std;
00025 #else
00026         #include <string>
00027 #endif
00028 
00029 #include "model.h"
00030 #include "vector.h"
00031 #include "matrix.h"
00032 
00034 class Model1D: public Model {
00035  public:
00036   double Force;
00037   Model1D(string path);
00038   virtual ~Model1D() {};
00039   virtual MSLVector StateToConfiguration(const MSLVector &x);
00040   virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, const double &h);
00041   virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
00042   virtual double Metric(const MSLVector &x1, const MSLVector &x2);
00043 };
00044 
00045 
00047 class ModelLinear: public Model {
00048  public:
00049   MSLMatrix A;
00050   MSLMatrix B;
00051   ModelLinear(string path);
00052   virtual ~ModelLinear() {};
00053   virtual MSLVector StateToConfiguration(const MSLVector &x);
00054   virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, 
00055                               const double &h);
00056   virtual MSLVector StateTransitionEquation(const MSLVector &x, 
00057                                             const MSLVector &u);
00058 };
00059 
00060 
00061 
00063 class ModelND: public Model {
00064  public:
00065   double CorridorWidth;
00066   ModelND(string path);
00067   virtual ~ModelND() {};
00068   virtual MSLVector StateToConfiguration(const MSLVector &x);
00069   virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, const double &h);
00070   virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
00071   //virtual bool Satisfied(const MSLVector &x);
00072 };
00073 
00074 
00076 class ModelNintegrator: public Model {
00077  public:
00078   double UBound;
00079   double VBound;
00080   ModelNintegrator(string path);
00081   virtual ~ModelNintegrator() {};
00082   virtual MSLVector StateToConfiguration(const MSLVector &x);
00083   virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, const double &h);
00084   virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
00085 };
00086 
00087 
00088 #endif
Motion Strategy Library


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Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research.
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