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Scene Class Reference

An interface class that gives Problem information to Render. It tells the renderer how the "scene" appears for rendering purposes, as opposed to collision-detection purposes. More...

#include <scene.h>

List of all members.

Public Methods
	Scene (Problem *problem, string path)
	Scene must be initialized with the Problem that was passed to the planner.
virtual	~Scene ()
	Empty destructor.
void	SetProblem (Problem *P)
	A method for changing the associated Problem.
virtual MSLVector	StateToSceneConfiguration (const MSLVector &x)
	Convert the state into configurations for each body (a long MSLVector).
virtual MSLVector	InterpolatedSceneConfiguration (const MSLVector &x1, const MSLVector &x2, const double &a)
	Interpolate the states; convert the result to a SceneConfiguratrion.
Public Attributes
string	FilePath
	A common filepath.
int	GeomDim
	The geometry dimension, 2 or 3.
int	NumBodies
	The number of bodies in the scene.
int	SceneConfigurationDim
	Total degrees of freedom of the scene.
MSLVector	LowerWorld
	The smallest x,y,z world coordinates for the environment.
MSLVector	UpperWorld
	The largest x,y,z world coordinated for the environment.
MSLVector	GlobalCameraPosition
	The location of the default camera in x,y,z.
MSLVector	GlobalCameraDirection
	The direction the default camera is pointing with respect to the model.
MSLVector	GlobalCameraZenith
	The up direction of the default camera.
MSLVector	AttachedCameraPosition
	The location of the body-attached camera in x,y,z.
MSLVector	AttachedCameraDirection
	The direction the body-attached camera is pointing.
MSLVector	AttachedCameraZenith
	The up direction of the body-attached camera.
int	AttachedCameraBody
	The index of the body to which the camera is attached (default = 0).
Protected Attributes
Problem*	P
	The Problem instance used by the planner/solver.

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Detailed Description

An interface class that gives Problem information to Render. It tells the renderer how the "scene" appears for rendering purposes, as opposed to collision-detection purposes.

This is an interface class that computes configurations of all bodies to be displayed by a rendering method. Currently, configuration information is passed through an instance of Problem. Thus, the base class for Scene is simply a wrapper to Problem.

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Constructor & Destructor Documentation

Scene::Scene ( Problem * problem, string path )

Scene must be initialized with the Problem that was passed to the planner.

Scene::~Scene ( ) [inline, virtual]

Empty destructor.

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Member Function Documentation

MSLVector Scene::InterpolatedSceneConfiguration ( const MSLVector & x1, const MSLVector & x2, const double & a ) [virtual]

Interpolate the states; convert the result to a SceneConfiguratrion.

void Scene::SetProblem ( Problem * P )

A method for changing the associated Problem.

MSLVector Scene::StateToSceneConfiguration ( const MSLVector & x ) [virtual]

Convert the state into configurations for each body (a long MSLVector).

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Member Data Documentation

int Scene::AttachedCameraBody

The index of the body to which the camera is attached (default = 0).

MSLVector Scene::AttachedCameraDirection

The direction the body-attached camera is pointing.

MSLVector Scene::AttachedCameraPosition

The location of the body-attached camera in x,y,z.

MSLVector Scene::AttachedCameraZenith

The up direction of the body-attached camera.

string Scene::FilePath

A common filepath.

int Scene::GeomDim

The geometry dimension, 2 or 3.

MSLVector Scene::GlobalCameraDirection

The direction the default camera is pointing with respect to the model.

MSLVector Scene::GlobalCameraPosition

The location of the default camera in x,y,z.

MSLVector Scene::GlobalCameraZenith

The up direction of the default camera.

MSLVector Scene::LowerWorld

The smallest x,y,z world coordinates for the environment.

int Scene::NumBodies

The number of bodies in the scene.

Problem * Scene::P [protected]

The Problem instance used by the planner/solver.

int Scene::SceneConfigurationDim

Total degrees of freedom of the scene.

MSLVector Scene::UpperWorld

The largest x,y,z world coordinated for the environment.

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The documentation for this class was generated from the following file:

• scene.h

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