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 #include <assimp/scene.h>
18 #include <vector>
19 #include <functional>
20 #include <ompl/base/State.h>
21 
22 namespace ompl
23 {
24  namespace app
25  {
26 
28  enum MotionModel { Motion_2D, Motion_3D };
29 
30  typedef std::function<const base::State *(const base::State *, unsigned int)> GeometricStateExtractor;
31 
33  {
34  public:
35 
36  GeometrySpecification() = default;
37 
38  std::vector<const aiScene *> robot;
39  std::vector<aiVector3D> robotShift;
40 
41  std::vector<const aiScene *> obstacles;
42  std::vector<aiVector3D> obstaclesShift;
43  };
44 
45  }
46 }
47 #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.