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model.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_MODEL_H
#define MSL_MODEL_H

#include <list>
#include <string>
using namespace std;


#include "vector.h"
#include "matrix.h"


class Model {
 protected:
  double ModelDeltaT;

  list<MSLVector> Inputs;

  MSLVector RungeKuttaIntegrate(const MSLVector &x, const MSLVector &u, const double &h);

  MSLVector EulerIntegrate(const MSLVector &x, const MSLVector &u, const double &h);
 public:

  string FilePath;

  MSLVector LowerState; 

  MSLVector UpperState;

  MSLVector LowerInput;

  MSLVector UpperInput;

  int StateDim;
  
  int InputDim;

  Model(string path);

  virtual ~Model() {};

  virtual list<MSLVector> GetInputs(const MSLVector &x);

  virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u) = 0;

  virtual bool Satisfied(const MSLVector &x);

  virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, 
                           const double &h) = 0; 


  virtual MSLVector LinearInterpolate(const MSLVector &x1, const MSLVector &x2, 
                                   const double &a);  // Depends on topology

  virtual MSLVector StateDifference(const MSLVector &x1, const MSLVector &x2); 

  // Conversions
  virtual MSLVector StateToConfiguration(const MSLVector &x);

  virtual double Metric(const MSLVector &x1, const MSLVector &x2); 

  // The following are used by optimization methods.  They are empty by
  // default because regular planners don't need them.  These could later
  // go in a derived class for optimization problems, but are left here
  // so that "regular" models can be converted to optimization models
  // by overriding these methods.

  virtual void Partialf_x(const MSLVector &x, const MSLVector &u, MSLMatrix & m) {};

  virtual void Partialf_u(const MSLVector &x, const MSLVector &u, MSLMatrix & m) {};

  virtual void L(const MSLVector &x, const MSLVector &u, double &l) {};

  virtual void PartialL_x(const MSLVector &x, const MSLVector &u, MSLMatrix & m) {};

  virtual void PartialL_u(const MSLVector &x, const MSLVector &u, MSLMatrix & m) {};

  virtual void Phi(const MSLVector &x, const MSLVector &u, 
                   const MSLVector &goalstate, double &phi) {};

  virtual void PartialPhi_x(const MSLVector &x, const MSLVector &u, 
                            const MSLVector &goalstate, 
                            MSLMatrix & m) {};

  virtual void PartialPhi_t(const MSLVector &x, const MSLVector &u, 
                            const MSLVector &goalstate, 
                            MSLMatrix & m) {};

  virtual void Psi(const MSLVector &x, const MSLVector &goalstate, MSLVector& psi) {};

  virtual void PartialPsi_x(const MSLVector &x, const MSLVector &u, MSLMatrix & m) {};

  virtual void PartialPsi_t(const MSLVector &x, const MSLVector &u, MSLMatrix & m) {};

};

#endif

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