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