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scene.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_SCENE_H
00020 #define MSL_SCENE_H
00021 
00022 #include "problem.h"
00023 #include "util.h"
00024 
00028 
00036 class Scene {
00037  protected:
00039   Problem *P;
00040 
00041  public:
00043   string FilePath;
00044 
00046   int GeomDim;
00047 
00049   int NumBodies;
00050 
00052   int SceneConfigurationDim;
00053 
00055   MSLVector LowerWorld;
00056   
00058   MSLVector UpperWorld;
00059 
00061   MSLVector GlobalCameraPosition;
00062 
00064   MSLVector GlobalCameraDirection;
00065 
00067   MSLVector GlobalCameraZenith;
00068 
00070   MSLVector AttachedCameraPosition;
00071 
00073   MSLVector AttachedCameraDirection;
00074 
00076   MSLVector AttachedCameraZenith;
00077 
00079   int AttachedCameraBody;
00080 
00082   Scene(Problem *problem, string path);
00083   
00085   virtual ~Scene() {};
00086 
00088   void SetProblem(Problem *P);
00089 
00091   virtual MSLVector StateToSceneConfiguration(const MSLVector &x);
00092 
00094   virtual MSLVector InterpolatedSceneConfiguration(const MSLVector &x1, 
00095                                                    const MSLVector &x2, 
00096                                                    const double &a);
00097 };
00098 
00099 #endif
Motion Strategy Library


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