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_GEOM_H 00020 #define MSL_GEOM_H 00021 00022 00023 // The world places objects using configuration (model uses state). 00024 // Each derived class can define Obst and Robot however it likes. 00025 // Methods such as "GeomToPolygons" can give output in whatever 00026 // format is requested. So far, only list<polygon> is shown, 00027 // but we could imagine an OpenInventor model, Geomview model, etc. 00028 00030 00040 #include <list.h> 00041 #include <string> 00042 00043 #include "vector.h" 00044 00045 class Geom { 00046 protected: 00047 string FilePath; 00048 public: 00050 Geom(string path); 00051 00053 virtual ~Geom() {}; 00054 00056 int NumBodies; 00057 00059 int GeomDim; 00060 00062 virtual bool CollisionFree(const MSLVector &q) = 0; // Input is configuration 00063 00066 virtual double DistanceComp(const MSLVector &q) = 0; // Distance in world 00067 00069 MSLVector MaxDeviates; 00070 00074 virtual MSLVector ConfigurationDifference(const MSLVector &q1, 00075 const MSLVector &q2); 00076 }; 00077 00078 00080 class GeomNone: public Geom { 00081 public: 00082 GeomNone(string path); 00083 virtual ~GeomNone() {}; 00084 virtual bool CollisionFree(const MSLVector &q){return true;} 00085 virtual double DistanceComp(const MSLVector &q){return 10000.0;} 00086 }; 00087 00088 #endif