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model2d.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_MODEL2D_H
#define MSL_MODEL2D_H

#include "model.h"

class Model2D: public Model {
 public:
  Model2D(string path);
  virtual ~Model2D() {};
  virtual MSLVector StateToConfiguration(const MSLVector &x);
};


class Model2DPoint: public Model2D {
 public:
  Model2DPoint(string path);
  virtual ~Model2DPoint() {};
  virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, const double &h);
  virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
  virtual double Metric(const MSLVector &x1, const MSLVector &x2);
};


class Model2DPointCar: public Model2DPoint {
 public:
  double MaxSteeringAngle;
  double CarLength;
  Model2DPointCar(string path);
  virtual ~Model2DPointCar() {};
  virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, const double &h);
  virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
  virtual double Metric(const MSLVector &x1, const MSLVector &x2);
};


class Model2DRigid: public Model2D {
 public:
  Model2DRigid(string path);
  virtual ~Model2DRigid() {};
  virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, const double &h);
  virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
  MSLVector LinearInterpolate(const MSLVector &x1, const MSLVector &x2, 
                           const double &a);
  virtual double Metric(const MSLVector &x1, const MSLVector &x2);
  virtual MSLVector StateToConfiguration(const MSLVector &x);
};


class Model2DRigidCar: public Model2DRigid {
 public:
  double MaxSteeringAngle;
  double CarLength;
  Model2DRigidCar(string path);
  virtual ~Model2DRigidCar() {};
  virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
};


class Model2DRigidCarForward: public Model2DRigidCar {
 public:
  Model2DRigidCarForward(string path);
  virtual ~Model2DRigidCarForward() {};
};


class Model2DRigidCarSmooth: public Model2DRigidCar {
 public:
  double SteeringSpeed;
  Model2DRigidCarSmooth(string path);
  virtual ~Model2DRigidCarSmooth() {};
  virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
  MSLVector Integrate(const MSLVector &x, const MSLVector &u, const double &h);
  virtual double Metric(const MSLVector &x1, const MSLVector &x2);
  virtual MSLVector StateToConfiguration(const MSLVector &x);
  virtual bool Satisfied(const MSLVector &x);
};

class Model2DRigidCarSmoothTrailer: public Model2DRigidCarSmooth {
 public:
  double HitchLength;
  double HitchMaxAngle;
  Model2DRigidCarSmoothTrailer(string path);
  virtual ~Model2DRigidCarSmoothTrailer() {};
  virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
  virtual double Metric(const MSLVector &x1, const MSLVector &x2);
  virtual MSLVector StateToConfiguration(const MSLVector &x);
  virtual bool Satisfied(const MSLVector &x);
};


class Model2DRigidCarSmooth2Trailers: public Model2DRigidCarSmoothTrailer {
 public:
  double Hitch2Length;
  double Hitch2MaxAngle;
  Model2DRigidCarSmooth2Trailers(string path);
  virtual ~Model2DRigidCarSmooth2Trailers() {};
  virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
  virtual double Metric(const MSLVector &x1, const MSLVector &x2);
  virtual MSLVector StateToConfiguration(const MSLVector &x);
  virtual bool Satisfied(const MSLVector &x);
};


class Model2DRigidCarSmooth3Trailers: public Model2DRigidCarSmooth2Trailers {
 public:
  double Hitch3Length;
  double Hitch3MaxAngle;
  Model2DRigidCarSmooth3Trailers(string path);
  virtual ~Model2DRigidCarSmooth3Trailers() {};
  virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
  virtual double Metric(const MSLVector &x1, const MSLVector &x2);
  virtual MSLVector StateToConfiguration(const MSLVector &x);
  virtual bool Satisfied(const MSLVector &x);
};



class Model2DRigidDyncar: public Model2DRigid {
 public:
  double Mass;

  double CAF;

  double CAR;

  double Adist;

  double Bdist;

  double Izz;

  double WorldScale;

  double MaxSteeringAngle;

  double Speed;

  Model2DRigidDyncar(string path);
  virtual ~Model2DRigidDyncar() {};
  MSLVector Integrate(const MSLVector &x, const MSLVector &u, const double &h);
  virtual MSLVector StateToConfiguration(const MSLVector &x);
  virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
  virtual double Metric(const MSLVector &x1, const MSLVector &x2);
  virtual MSLVector LinearInterpolate(const MSLVector &x1, const MSLVector &x2, 
                                   const double &a);
};


class Model2DRigidDyncarNtire: public Model2DRigidDyncar {
 public:

  double Mu;

  double Nf;

  double Nr;

  Model2DRigidDyncarNtire(string path);
  virtual ~Model2DRigidDyncarNtire() {};
  virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
};


class Model2DRigidLander: public Model2DRigid {
 public:
  double Mass;

  double G;

  double Fs;         

  double Fu;

  Model2DRigidLander(string path);
  virtual ~Model2DRigidLander() {};
  MSLVector Integrate(const MSLVector &x, const MSLVector &u, const double &h);
  virtual MSLVector StateToConfiguration(const MSLVector &x);
  virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
  virtual double Metric(const MSLVector &x1, const MSLVector &x2);
};



class Model2DRigidMulti: public Model2DRigid {
 public:
  int NumBodies;

  Model2DRigidMulti(string path);
  virtual ~Model2DRigidMulti() {}
  virtual double Metric(const MSLVector &x1, const MSLVector &x2);
  virtual MSLVector StateToConfiguration(const MSLVector &x);
  virtual MSLVector LinearInterpolate(const MSLVector &x1, const MSLVector &x2, 
                                   const double &a);  // Depends on topology
};


class Model2DRigidChain: public Model2DRigid {
 public:
  int NumBodies;

  MSLVector A;

  double StopAngle;  

  Model2DRigidChain(string path);
  virtual ~Model2DRigidChain() {};
  virtual MSLVector StateToConfiguration(const MSLVector &x);
  virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
  virtual MSLVector LinearInterpolate(const MSLVector &x1, const MSLVector &x2, 
                                   const double &a);
  virtual double Metric(const MSLVector &x1, const MSLVector &x2);
  virtual bool Satisfied(const MSLVector &x);
};


#endif

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Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.