37 #include "ompl/extensions/opende/OpenDEControlSpace.h"
38 #include "ompl/util/Exception.h"
44 const control::OpenDEEnvironmentPtr& getOpenDEStateSpaceEnvironmentWithCheck(
const base::StateSpacePtr &space)
46 if (!dynamic_cast<control::OpenDEStateSpace*>(space.get()))
47 throw Exception(
"OpenDE State Space needed for creating OpenDE Control Space");
48 return space->as<control::OpenDEStateSpace>()->getEnvironment();
54 RealVectorControlSpace(stateSpace, getOpenDEStateSpaceEnvironmentWithCheck(stateSpace)->getControlDimension())
std::vector< double > low
Lower bound.
A boost shared pointer wrapper for ompl::base::StateSpace.
Number of control space types; To add new types, use values that are larger than the count...
void setName(const std::string &name)
Set the name of the control space.
OpenDEControlSpace(const base::StateSpacePtr &stateSpace)
Construct a representation of controls passed to OpenDE. If stateSpace does not cast to an OpenDEStat...
unsigned int dimension_
The dimension of the state space.
const std::string & getName(void) const
Get the name of the control space.
A control space representing Rn.
int type_
A type assigned for this control space.
std::vector< double > high
Upper bound.
The lower and upper bounds for an Rn space.
const OpenDEEnvironmentPtr & getEnvironment(void) const
Get the OpenDE environment this state space corresponds to.
void setBounds(const base::RealVectorBounds &bounds)
Set the bounds (min max values for each dimension) for the control.