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ODEEnvironment.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_EXTENSION_ODE_ENVIRONMENT_
00038 #define OMPL_EXTENSION_ODE_ENVIRONMENT_
00039 
00040 #include "ompl/config.h"
00041 #if OMPL_EXTENSION_ODE == 0
00042 #  error ODE 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         ClassForward(ODEEnvironment);
00060 
00065         class ODEEnvironment
00066         {
00067         public:
00068 
00070             dWorldID              world_;
00071 
00073             std::vector<dSpaceID> collisionSpaces_;
00074 
00078             std::vector<dBodyID>  stateBodies_;
00079 
00081             std::map<dGeomID, std::string>
00082                                   geomNames_;
00083 
00085             bool                  verboseContacts_;
00086 
00088             dJointGroupID         contactGroup_;
00089 
00091             unsigned int          maxContacts_;
00092 
00094             double                stepSize_;
00095 
00097             unsigned int          maxControlSteps_;
00098 
00100             unsigned int          minControlSteps_;
00101 
00103             mutable boost::mutex  mutex_;
00104 
00105             ODEEnvironment(void) : world_(NULL), verboseContacts_(false), maxContacts_(3), stepSize_(0.05), maxControlSteps_(100), minControlSteps_(5)
00106             {
00107                 contactGroup_ = dJointGroupCreate(0);
00108             }
00109 
00110             virtual ~ODEEnvironment(void)
00111             {
00112                 if (contactGroup_)
00113                     dJointGroupDestroy(contactGroup_);
00114             }
00115 
00117             virtual unsigned int getControlDimension(void) const = 0;
00118 
00120             virtual void getControlBounds(std::vector<double> &lower, std::vector<double> &upper) const = 0;
00121 
00125             virtual void applyControl(const double *control) const = 0;
00126 
00131             virtual bool isValidCollision(dGeomID geom1, dGeomID geom2, const dContact& contact) const;
00132 
00136             virtual unsigned int getMaxContacts(dGeomID geom1, dGeomID geom2) const;
00137 
00139             virtual void setupContact(dGeomID geom1, dGeomID geom2, dContact &contact) const;
00140 
00142             std::string getGeomName(dGeomID geom) const;
00143 
00145             void setGeomName(dGeomID geom, const std::string &name);
00146 
00147         };
00148     }
00149 }
00150 
00151 #endif