Motion Strategy Library

00001 //----------------------------------------------------------------------
00002 //               The Motion Strategy Library (MSL)
00003 //----------------------------------------------------------------------
00004 //
00005 // Copyright (c) University of Illinois and Steve 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_MODELMISC_H
00020 #define MSL_MODELMISC_H
00021 
00022 #include <string>
00023 
00024 #include "model.h"
00025 #include "vector.h"
00026 #include "matrix.h"
00027 #include "util.h"
00028 
00030 class Model1D: public Model {
00031  public:
00032   double Force;
00033   Model1D(string path);
00034   virtual ~Model1D() {};
00035   virtual MSLVector StateToConfiguration(const MSLVector &x);
00036   virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, const double &h);
00037   virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
00038   virtual double Metric(const MSLVector &x1, const MSLVector &x2);
00039 };
00040 
00041 
00043 class ModelLinear: public Model {
00044  public:
00045   MSLMatrix A;
00046   MSLMatrix B;
00047   ModelLinear(string path);
00048   virtual ~ModelLinear() {};
00049   virtual MSLVector StateToConfiguration(const MSLVector &x);
00050   virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, 
00051                               const double &h);
00052   virtual MSLVector StateTransitionEquation(const MSLVector &x, 
00053                                             const MSLVector &u);
00054 };
00055 
00056 
00057 
00059 class ModelND: public Model {
00060  public:
00061   double CorridorWidth;
00062   ModelND(string path);
00063   virtual ~ModelND() {};
00064   virtual MSLVector StateToConfiguration(const MSLVector &x);
00065   virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, const double &h);
00066   virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
00067   //virtual bool Satisfied(const MSLVector &x);
00068 };
00069 
00070 
00072 class ModelNintegrator: public Model {
00073  public:
00074   double UBound;
00075   double VBound;
00076   ModelNintegrator(string path);
00077   virtual ~ModelNintegrator() {};
00078   virtual MSLVector StateToConfiguration(const MSLVector &x);
00079   virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, const double &h);
00080   virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
00081 };
00082 
00083 
00084 #endif
modelmisc.h
