ompl/extensions/opende/OpenDEEnvironment.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_EXTENSION_OPENDE_ENVIRONMENT_
00038 #define OMPL_EXTENSION_OPENDE_ENVIRONMENT_
00039 
00040 #include "ompl/config.h"
00041 #if OMPL_EXTENSION_OPENDE == 0
00042 #  error OpenDE extension not built
00043 #endif
00044 
00045 #include "ompl/util/ClassForward.h"
00046 
00047 #include <ode/ode.h>
00048 #include <vector>
00049 #include <string>
00050 #include <map>
00051 #include <boost/thread/mutex.hpp>
00052 
00053 namespace ompl
00054 {
00055     namespace control
00056     {
00057 
00059 
00060         OMPL_CLASS_FORWARD(OpenDEEnvironment);
00062 
00067         class OpenDEEnvironment
00068         {
00069         public:
00070 
00072             dWorldID              world_;
00073 
00075             std::vector<dSpaceID> collisionSpaces_;
00076 
00080             std::vector<dBodyID>  stateBodies_;
00081 
00083             std::map<dGeomID, std::string>
00084                                   geomNames_;
00085 
00087             bool                  verboseContacts_;
00088 
00090             dJointGroupID         contactGroup_;
00091 
00093             unsigned int          maxContacts_;
00094 
00096             double                stepSize_;
00097 
00099             unsigned int          maxControlSteps_;
00100 
00102             unsigned int          minControlSteps_;
00103 
00105             mutable boost::mutex  mutex_;
00106 
00107             OpenDEEnvironment() : world_(NULL), verboseContacts_(false), maxContacts_(3), stepSize_(0.05), maxControlSteps_(100), minControlSteps_(5)
00108             {
00109                 contactGroup_ = dJointGroupCreate(0);
00110             }
00111 
00112             virtual ~OpenDEEnvironment()
00113             {
00114                 if (contactGroup_)
00115                     dJointGroupDestroy(contactGroup_);
00116             }
00117 
00119             virtual unsigned int getControlDimension() const = 0;
00120 
00122             virtual void getControlBounds(std::vector<double> &lower, std::vector<double> &upper) const = 0;
00123 
00127             virtual void applyControl(const double *control) const = 0;
00128 
00133             virtual bool isValidCollision(dGeomID geom1, dGeomID geom2, const dContact& contact) const;
00134 
00138             virtual unsigned int getMaxContacts(dGeomID geom1, dGeomID geom2) const;
00139 
00141             virtual void setupContact(dGeomID geom1, dGeomID geom2, dContact &contact) const;
00142 
00144             std::string getGeomName(dGeomID geom) const;
00145 
00147             void setGeomName(dGeomID geom, const std::string &name);
00148 
00149         };
00150     }
00151 }
00152 
00153 #endif
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