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_PROBLEM_H 00020 #define MSL_PROBLEM_H 00021 00022 #include <list.h> 00023 #include <string> 00024 00025 #include "model.h" 00026 #include "geom.h" 00027 00029 00038 class Problem { 00039 protected: 00041 Geom *G; 00043 Model *M; 00044 public: 00046 string FilePath; 00047 00049 int NumBodies; 00050 00052 int StateDim; 00053 00055 int InputDim; 00056 00058 int GeomDim; 00059 00061 MSLVector LowerState; 00062 00064 MSLVector UpperState; 00065 00067 MSLVector InitialState; 00068 00070 MSLVector GoalState; 00071 00074 Problem(Geom *geom, Model *model, string path); 00075 00077 virtual ~Problem() {}; 00078 00080 void SetGeom(Geom *geom); 00081 00083 void SetModel(Model *model); 00084 00086 virtual list<MSLVector> GetInputs(const MSLVector &x); 00087 00089 virtual list<MSLVector> GetInputs(); 00090 00092 virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, 00093 const double &deltat); 00094 00096 00100 virtual MSLVector InterpolateState(const MSLVector &x1, const MSLVector &x2, 00101 const double &a); // Depends on topology 00102 00104 virtual double Metric(const MSLVector &x1, const MSLVector &x2); 00105 00107 virtual MSLVector StateToConfiguration(const MSLVector &x); 00108 00112 virtual MSLVector StateDifference(const MSLVector &x1, 00113 const MSLVector &x2); 00114 00117 virtual bool Satisfied(const MSLVector &x); 00118 00120 virtual bool CollisionFree(const MSLVector &q); 00121 00123 virtual double DistanceComp(const MSLVector &q); 00124 00126 MSLVector MaxDeviates; 00127 00131 virtual MSLVector ConfigurationDifference(const MSLVector &q1, 00132 const MSLVector &q2); 00133 }; 00134 00135 #endif 00136 00137