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