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_SCENE_H 00020 #define MSL_SCENE_H 00021 00022 #include "problem.h" 00023 #include "util.h" 00024 00028 00036 class Scene { 00037 protected: 00039 Problem *P; 00040 00041 public: 00043 string FilePath; 00044 00046 int GeomDim; 00047 00049 int NumBodies; 00050 00052 int SceneConfigurationDim; 00053 00055 MSLVector LowerWorld; 00056 00058 MSLVector UpperWorld; 00059 00061 MSLVector GlobalCameraPosition; 00062 00064 MSLVector GlobalCameraDirection; 00065 00067 MSLVector GlobalCameraZenith; 00068 00070 MSLVector AttachedCameraPosition; 00071 00073 MSLVector AttachedCameraDirection; 00074 00076 MSLVector AttachedCameraZenith; 00077 00079 int AttachedCameraBody; 00080 00082 Scene(Problem *problem, string path); 00083 00085 virtual ~Scene() {}; 00086 00088 void SetProblem(Problem *P); 00089 00091 virtual MSLVector StateToSceneConfiguration(const MSLVector &x); 00092 00094 virtual MSLVector InterpolatedSceneConfiguration(const MSLVector &x1, 00095 const MSLVector &x2, 00096 const double &a); 00097 }; 00098 00099 #endif