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 00027 00035 class Scene { 00036 protected: 00038 Problem *P; 00039 00040 public: 00042 string FilePath; 00043 00045 int GeomDim; 00046 00048 int NumBodies; 00049 00051 int SceneConfigurationDim; 00052 00054 MSLVector LowerWorld; 00055 00057 MSLVector UpperWorld; 00058 00060 MSLVector GlobalCameraPosition; 00061 00063 MSLVector GlobalCameraDirection; 00064 00066 MSLVector GlobalCameraZenith; 00067 00069 MSLVector AttachedCameraPosition; 00070 00072 MSLVector AttachedCameraDirection; 00073 00075 MSLVector AttachedCameraZenith; 00076 00078 int AttachedCameraBody; 00079 00081 Scene(Problem *problem, string path); 00082 00084 virtual ~Scene() {}; 00085 00087 void SetProblem(Problem *P); 00088 00090 virtual MSLVector StateToSceneConfiguration(const MSLVector &x); 00091 00093 virtual MSLVector InterpolatedSceneConfiguration(const MSLVector &x1, 00094 const MSLVector &x2, 00095 const double &a); 00096 }; 00097 00098 #endif