Motion Strategy Library

00001 //----------------------------------------------------------------------
00002 //               The Motion Strategy Library (MSL)
00003 //----------------------------------------------------------------------
00004 //
00005 // Copyright (c) 1998-2000 Iowa State University 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 // Iowa State University 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 #include <stdlib.h>
00020 #include <stream.h>
00021 
00022 #include <LEDA/list.h>
00023 #include <LEDA/vector.h>
00024 #include <LEDA/array2.h>
00025 
00026 #define OUTERSTEPS 40
00027 #define INNERSTEPS 20
00028 #define XTRANS 0.0
00029 #define YTRANS 15.0
00030 #define ZTRANS 0.0
00031 #define INNERRADIUS 4.0
00032 #define OUTERRADIUS 15.0
00033 #define PI 3.1415926535897932385
00034 
00035 
00036 main(int argc, char **argv)
00037 { 
00038   list<vector> pl;
00039   vector p1,p2,p3;
00040   int i,j;
00041   double u,v;
00042   vector x(3);
00043   array2<vector> torus(OUTERSTEPS,INNERSTEPS);
00044 
00045   for (i = 0; i < OUTERSTEPS; i++) {
00046     u = i*2.0*PI/OUTERSTEPS;
00047     for (j = 0; j < INNERSTEPS; j++) {
00048       v = j*2.0*PI/INNERSTEPS;
00049       x[0] = XTRANS + (OUTERRADIUS + INNERRADIUS * cos(v))*cos(u);
00050       x[1] = YTRANS + INNERRADIUS * sin(v);
00051       x[2] = ZTRANS + (OUTERRADIUS + INNERRADIUS * cos(v))*sin(u);
00052       torus(i,j) = x;
00053     }
00054   }
00055 
00056   for (i = 0; i < OUTERSTEPS; i++) {
00057     for (j = 0; j < INNERSTEPS; j++) {
00058       p1 = torus(i,j);
00059       p2 = torus((i+1) % OUTERSTEPS,j);
00060       p3 = torus(i,(j+1) % INNERSTEPS);
00061       cout << "(" << p1[0] << "," << p1[1] << "," << p1[2] << ") ";
00062       cout << "(" << p3[0] << "," << p3[1] << "," << p3[2] << ") ";
00063       cout << "(" << p2[0] << "," << p2[1] << "," << p2[2] << ")\n";
00064       p1 = torus(i,(j+1) % INNERSTEPS);
00065       p2 = torus((i+1) % OUTERSTEPS,j);
00066       p3 = torus((i+1) % OUTERSTEPS ,(j+1) % INNERSTEPS);
00067       cout << "(" << p1[0] << "," << p1[1] << "," << p1[2] << ") ";
00068       cout << "(" << p3[0] << "," << p3[1] << "," << p3[2] << ") ";
00069       cout << "(" << p2[0] << "," << p2[1] << "," << p2[2] << ")\n";
00070     }
00071   }
00072 
00073 }
00074   
00075
torus.C
