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_MODEL3D_H 00020 #define MSL_MODEL3D_H 00021 00022 #include <vector> 00023 00024 #include "model.h" 00025 #include "matrix.h" 00026 00028 class Model3D: public Model { 00029 public: 00030 Model3D(string path); 00031 virtual ~Model3D() {} 00032 }; 00033 00034 00035 00037 class Model3DRigid: public Model3D { 00038 public: 00039 Model3DRigid(string path); 00040 virtual ~Model3DRigid() {} 00041 virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, const double &h); 00042 MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u); 00043 virtual double Metric(const MSLVector &x1, const MSLVector &x2); 00044 virtual MSLVector LinearInterpolate(const MSLVector &x1, const MSLVector &x2, 00045 const double &a); // Depends on topology 00046 virtual MSLVector StateDifference(const MSLVector &x1, const MSLVector &x2); 00047 }; 00048 00049 00051 class Model3DRigidMulti: public Model3DRigid { 00052 public: 00053 int NumBodies; 00054 Model3DRigidMulti(string path); 00055 virtual ~Model3DRigidMulti() {} 00056 virtual double Metric(const MSLVector &x1, const MSLVector &x2); 00057 virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, const double &h); 00058 virtual MSLVector LinearInterpolate(const MSLVector &x1, const MSLVector &x2, 00059 const double &a); // Depends on topology 00060 virtual MSLVector StateDifference(const MSLVector &x1, const MSLVector &x2); 00061 }; 00062 00063 00075 00076 class Model3DRigidChain: public Model3DRigid { 00077 public: 00079 int NumBodies; 00080 00082 MSLVector DH; 00083 00084 vector<int> StateIndices; 00085 00086 Model3DRigidChain(string path); 00087 virtual ~Model3DRigidChain() {}; 00088 virtual MSLVector StateTransitionEquation(const MSLVector &x, 00089 const MSLVector &u); 00090 virtual MSLVector StateToConfiguration(const MSLVector &x); 00091 virtual double Metric(const MSLVector &x1, const MSLVector &x2); 00092 virtual bool Satisfied(const MSLVector &x); 00093 }; 00094 00095 00111 00112 class Model3DRigidTree: public Model3DRigid { 00113 public: 00115 int NumBodies; 00116 00118 MSLVector DH; 00119 00120 vector<int> StateIndices; 00121 00122 vector<int> Parents; 00123 00124 Model3DRigidTree(string path); 00125 virtual ~Model3DRigidTree() {}; 00126 virtual MSLVector StateTransitionEquation(const MSLVector &x, 00127 const MSLVector &u); 00128 virtual MSLVector StateToConfiguration(const MSLVector &x); 00129 virtual double Metric(const MSLVector &x1, const MSLVector &x2); 00130 virtual bool Satisfied(const MSLVector &x); 00131 }; 00132 00133 00134 #endif