GeometrySpecification.h
1 /*********************************************************************
2 * Rice University Software Distribution License
3 *
4 * Copyright (c) 2010, Rice University
5 * All Rights Reserved.
6 *
7 * For a full description see the file named LICENSE.
8 *
9 *********************************************************************/
10 
11 /* Author: Ioan Sucan */
12 
13 #ifndef OMPLAPP_GEOMETRY_GEOMETRY_SPECIFICATION_
14 #define OMPLAPP_GEOMETRY_GEOMETRY_SPECIFICATION_
15 
16 #include "omplapp/config.h"
17 #if OMPL_HAS_ASSIMP3
18 #include <assimp/scene.h>
19 #else
20 #include <assimp/aiScene.h>
21 #endif
22 #include <vector>
23 #include <functional>
24 #include <ompl/base/State.h>
25 
26 namespace ompl
27 {
28  namespace app
29  {
30 
32  enum MotionModel { Motion_2D, Motion_3D };
33 
34  typedef std::function<const base::State *(const base::State *, unsigned int)> GeometricStateExtractor;
35 
37  {
38  public:
39 
41  {
42  }
43 
44  std::vector<const aiScene *> robot;
45  std::vector<aiVector3D> robotShift;
46 
47  std::vector<const aiScene *> obstacles;
48  std::vector<aiVector3D> obstaclesShift;
49  };
50 
51  }
52 }
53 #endif
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
MotionModel
Specify whether bodies are moving in 2D or bodies moving in 3D.