ODEEnvironment.h

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/* Author: Ioan Sucan */

#ifndef OMPL_EXTENSION_ODE_ENVIRONMENT_
#define OMPL_EXTENSION_ODE_ENVIRONMENT_

#include "ompl/config.h"
#if OMPL_EXTENSION_ODE == 0
#  error ODE extension not built
#endif

#include "ompl/util/ClassForward.h"

#include <ode/ode.h>
#include <vector>
#include <string>
#include <map>
#include <boost/thread/mutex.hpp>

namespace ompl
{
    namespace control
    {

        ClassForward(ODEEnvironment);

        class ODEEnvironment
        {
        public:

            dWorldID              world_;

            std::vector<dSpaceID> collisionSpaces_;

            std::vector<dBodyID>  stateBodies_;

            std::map<dGeomID, std::string>
                                  geomNames_;

            bool                  verboseContacts_;

            dJointGroupID         contactGroup_;

            unsigned int          maxContacts_;

            double                stepSize_;

            unsigned int          maxControlSteps_;

            unsigned int          minControlSteps_;

            mutable boost::mutex  mutex_;

            ODEEnvironment(void) : world_(NULL), verboseContacts_(false), maxContacts_(3), stepSize_(0.05), maxControlSteps_(100), minControlSteps_(5)
            {
                contactGroup_ = dJointGroupCreate(0);
            }

            virtual ~ODEEnvironment(void)
            {
                if (contactGroup_)
                    dJointGroupDestroy(contactGroup_);
            }

            virtual unsigned int getControlDimension(void) const = 0;

            virtual void getControlBounds(std::vector<double> &lower, std::vector<double> &upper) const = 0;

            virtual void applyControl(const double *control) const = 0;

            virtual bool isValidCollision(dGeomID geom1, dGeomID geom2, const dContact& contact) const;

            virtual unsigned int getMaxContacts(dGeomID geom1, dGeomID geom2) const;

            virtual void setupContact(dGeomID geom1, dGeomID geom2, dContact &contact) const;

            std::string getGeomName(dGeomID geom) const;

            void setGeomName(dGeomID geom, const std::string &name);

        };
    }
}

#endif

---

ompl
Author(s): Ioan Sucan/isucan@rice.edu, Mark Moll/mmoll@rice.edu, Lydia Kavraki/kavraki@rice.edu
autogenerated on Fri Jan 11 09:33:19 2013