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_PROBLEM_H 00020 #define MSL_PROBLEM_H 00021 00022 //#include <list.h> 00023 //#include <string> 00024 00025 #include "model.h" 00026 #include "geom.h" 00027 #include "util.h" 00028 00030 00039 class Problem { 00040 protected: 00042 Geom *G; 00044 Model *M; 00045 public: 00047 string FilePath; 00048 00050 int NumBodies; 00051 00053 int StateDim; 00054 00056 int InputDim; 00057 00059 int GeomDim; 00060 00062 MSLVector LowerState; 00063 00065 MSLVector UpperState; 00066 00068 MSLVector InitialState; 00069 00071 MSLVector GoalState; 00072 00075 Problem(Geom *geom, Model *model, string path); 00076 00078 virtual ~Problem() {}; 00079 00081 void SetGeom(Geom *geom); 00082 00084 void SetModel(Model *model); 00085 00087 virtual list<MSLVector> GetInputs(const MSLVector &x); 00088 00090 virtual list<MSLVector> GetInputs(); 00091 00093 virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, 00094 const double &deltat); 00095 00097 00101 virtual MSLVector InterpolateState(const MSLVector &x1, const MSLVector &x2, 00102 const double &a); // Depends on topology 00103 00105 virtual double Metric(const MSLVector &x1, const MSLVector &x2); 00106 00108 virtual MSLVector StateToConfiguration(const MSLVector &x); 00109 00113 virtual MSLVector StateDifference(const MSLVector &x1, 00114 const MSLVector &x2); 00115 00118 virtual bool Satisfied(const MSLVector &x); 00119 00121 virtual bool CollisionFree(const MSLVector &q); 00122 00124 virtual double DistanceComp(const MSLVector &q); 00125 00127 MSLVector MaxDeviates; 00128 00132 virtual MSLVector ConfigurationDifference(const MSLVector &q1, 00133 const MSLVector &q2); 00134 }; 00135 00136 #endif 00137 00138