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modelcar.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_MODELCAR_H
#define MSL_MODELCAR_H

#include <list>
#include <string>

#include "model2d.h"
#include "vector.h"
#include "matrix.h"


class ModelCar: public Model2DRigidCar {
 public:
  double Speed;

  ModelCar(string path);
  virtual ~ModelCar() {};
  virtual MSLVector StateToConfiguration(const MSLVector &x);
  virtual bool Satisfied(const MSLVector &state); 
};


class ModelCarSmooth: public Model2DRigidCarSmooth {
 public:
  ModelCarSmooth(string path);
  virtual ~ModelCarSmooth() {};
  virtual MSLVector StateToConfiguration(const MSLVector &x);
};


class ModelCarDyn: public Model2DRigidDyncar {
 public:
  ModelCarDyn(string path);
  virtual ~ModelCarDyn() {};
  virtual MSLVector StateToConfiguration(const MSLVector &x);
  virtual double Metric(const MSLVector &x1, const MSLVector &x2);
};

class ModelCarDynNtire: public Model2DRigidDyncarNtire {
 public:
  ModelCarDynNtire(string path);
  virtual ~ModelCarDynNtire() {};
  virtual MSLVector StateToConfiguration(const MSLVector &x);
  virtual double Metric(const MSLVector &x1, const MSLVector &x2);
};


class ModelCarDynRollover: public ModelCarDynNtire{  
 public:
  double K, c, Ixx;
  double T;
  double H, H2;
  double Ms;
  double Wn;
  double Fai;
  double x; 
  
  bool IsRollOver;

  ModelCarDynRollover(string path);
  virtual ~ModelCarDynRollover() {};

  int sgn(double x);

  virtual MSLVector StateTransitionEquation(const MSLVector &x1, const MSLVector &u);

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

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

  bool RollOverFree(const MSLVector &x);

  bool Satisfied(const MSLVector &x);
};


class ModelCarDynSmoothRollover: public ModelCarDynRollover {
 public:
 
  ModelCarDynSmoothRollover(string path);
  virtual ~ModelCarDynSmoothRollover() {};

  virtual MSLVector StateTransitionEquation(const MSLVector &x1, const MSLVector &u);

  virtual MSLVector StateToConfiguration(const MSLVector &x);

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

#endif

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