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triangle.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_TRIANGLE_H
00020 #define MSL_TRIANGLE_H
00021 
00022 #include <ctype.h>
00023 
00024 #ifdef WIN32
00025   #include <list>
00026   #include <iostream>
00027   #include <fstream>
00028   using namespace std;
00029 #else
00030   #include <list.h>
00031   #include <iostream.h>
00032 #endif
00033 
00034 #include "point3d.h" 
00035 #include "point.h"
00036 #include "mslio.h"
00037 #include "polygon.h"
00038 
00040 
00041 class MSLTriangle {
00042  public:
00043   MSLPoint3d p1,p2,p3;
00044 
00045   MSLTriangle(MSLPoint3d pt1, MSLPoint3d pt2, MSLPoint3d pt3);
00046   MSLTriangle();
00047   ~MSLTriangle(){}
00048   MSLTriangle(const MSLTriangle& tr);
00049   friend istream& operator>> (istream& is, MSLTriangle& tr);
00050   friend ostream& operator<< (ostream& os, const MSLTriangle& tr);
00051   MSLTriangle& operator= (const MSLTriangle& tr);
00052 
00053   //friend istream& operator>> (istream& is, list<MSLTriangle> & tl);
00054   //friend ostream& operator<< (ostream& os, const list<MSLTriangle> & tl);
00055 
00056 };
00057 
00058 istream& operator>> (istream& is, MSLTriangle& tr);
00059 ostream& operator<< (ostream& os, const MSLTriangle& tr);
00060 
00061 
00063 //list<MSLTriangle> PolygonsToTriangles(const list<list<MSLPoint> > &pl,
00064 //                                    double thickness);
00065 list<MSLTriangle> PolygonsToTriangles(const list<MSLPolygon> &pl,
00066                                       double thickness);
00067 
00068 
00069 #endif
00070 
Motion Strategy Library


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Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.