GeometrySpecification.h

/*********************************************************************
* Rice University Software Distribution License
*
* Copyright (c) 2010, Rice University
* All Rights Reserved.
*
* For a full description see the file named LICENSE.
*
*********************************************************************/
 
/* Author: Ioan Sucan */
 
#ifndef OMPLAPP_GEOMETRY_GEOMETRY_SPECIFICATION_
#define OMPLAPP_GEOMETRY_GEOMETRY_SPECIFICATION_
 
#include "omplapp/config.h"
#include <assimp/scene.h>
#include <vector>
#include <functional>
#include <ompl/base/State.h>
 
namespace ompl
{
    namespace app
    {
 
        enum MotionModel { Motion_2D, Motion_3D };
 
        using GeometricStateExtractor = std::function<const base::State *(const base::State *, unsigned int)>;
 
        class GeometrySpecification
        {
        public:
 
            GeometrySpecification() = default;
 
            std::vector<const aiScene *> robot;
            std::vector<aiVector3D>      robotShift;
 
            std::vector<const aiScene *> obstacles;
            std::vector<aiVector3D>      obstaclesShift;
        };
 
    }
}
#endif