---

model3d.h

Go to the documentation of this file.

//----------------------------------------------------------------------
//               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_MODEL3D_H
#define MSL_MODEL3D_H

#include <vector.h>

#include "model.h"
#include "matrix.h"

class Model3D: public Model {
 public:
  Model3D(string path);
  virtual ~Model3D() {}
};



class Model3DRigid: public Model3D {
 public:
  Model3DRigid(string path);
  virtual ~Model3DRigid() {}
  virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, const double &h);
  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);  // Depends on topology
};


class Model3DRigidMulti: public Model3DRigid {
 public:
  int NumBodies;
  Model3DRigidMulti(string path);
  virtual ~Model3DRigidMulti() {}
  virtual double Metric(const MSLVector &x1, const MSLVector &x2);
  virtual MSLVector LinearInterpolate(const MSLVector &x1, const MSLVector &x2, 
                                   const double &a);  // Depends on topology
};



class Model3DRigidChain: public Model3DRigid {
 public:
  int NumBodies;

  MSLVector DH;

  vector<int> StateIndices;

  Model3DRigidChain(string path);
  virtual ~Model3DRigidChain() {};
  virtual MSLVector StateTransitionEquation(const MSLVector &x, 
                                            const MSLVector &u);
  virtual MSLVector StateToConfiguration(const MSLVector &x);
  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);
};



class Model3DRigidTree: public Model3DRigid {
 public:
  int NumBodies;

  MSLVector DH;

  vector<int> StateIndices;

  vector<int> Parents;

  Model3DRigidTree(string path);
  virtual ~Model3DRigidTree() {};
  virtual MSLVector StateTransitionEquation(const MSLVector &x, 
                                            const MSLVector &u);
  virtual MSLVector StateToConfiguration(const MSLVector &x);
  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

---

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