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geom.h

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//----------------------------------------------------------------------
//               The Motion Strategy Library (MSL)
//----------------------------------------------------------------------
//
// Copyright (c) University of Illinois and Steven M. LaValle.     
// All Rights Reserved.
// 
// Permission to use, copy, and distribute this software and its 
// documentation is hereby granted free of charge, provided that 
// (1) it is not a component of a commercial product, and 
// (2) this notice appears in all copies of the software and
//     related documentation. 
// 
// The University of Illinois and the author make no representations
// about the suitability or fitness of this software for any purpose.  
// It is provided "as is" without express or implied warranty.
//----------------------------------------------------------------------

#ifndef MSL_GEOM_H
#define MSL_GEOM_H


// The world places objects using configuration (model uses state).
// Each derived class can define Obst and Robot however it likes.
// Methods such as "GeomToPolygons" can give output in whatever 
//  format is requested.  So far, only list<polygon> is shown,
//  but we could imagine an OpenInventor model, Geomview model, etc.


//#include <list.h>
#include <string>

#include "vector.h"
#include "util.h"

class Geom {
 protected:
  string FilePath;
 public:
  Geom(string path);

  virtual ~Geom() {};

  int NumBodies;

  int GeomDim;

  virtual bool CollisionFree(const MSLVector &q) = 0; // Input is configuration

  virtual double DistanceComp(const MSLVector &q) = 0;  // Distance in world

  MSLVector MaxDeviates;

  virtual MSLVector ConfigurationDifference(const MSLVector &q1, 
                                            const MSLVector &q2); 
};


class GeomNone: public Geom {
 public:
  GeomNone(string path);
  virtual ~GeomNone() {};
  virtual bool CollisionFree(const MSLVector &q){return true;} 
  virtual double DistanceComp(const MSLVector &q){return 10000.0;}
};

#endif

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