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model3ddyn.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_MODEL3DDYN_H
00020 #define MSL_MODEL3DDYN_H
00021 
00022 #include <vector>
00023 
00024 #include "vector.h"
00025 #include "renderglobj.h"
00026 #include "model3d.h"
00027 #include "matrix.h"
00028 
00029 
00032 class Model3DDyn : public Model3DRigid {
00033  public:
00034   Model3DDyn(string path);
00035   virtual ~Model3DDyn() {};
00036   
00037   virtual MSLVector StateTransitionEquation(const MSLVector &x, 
00038                                             const MSLVector &u);
00039   virtual bool Satisfied(const MSLVector &state);
00040   
00041   double m;
00042   MSLMatrix I;
00043 };
00044 
00045 
00046 #endif
00047 
Motion Strategy Library


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