GKinematicCarPlanning.h

/*********************************************************************
* Rice University Software Distribution License
*
* Copyright (c) 2010, Rice University
* All Rights Reserved.
*
* For a full description see the file named LICENSE.
*
*********************************************************************/
 
/* Author: Mark Moll */
 
#ifndef OMPLAPP_G_KINEMATIC_CAR_PLANNING_
#define OMPLAPP_G_KINEMATIC_CAR_PLANNING_
 
#include "omplapp/apps/KinematicCarPlanning.h"
#include "omplapp/graphics/RenderGeometry.h"
 
namespace ompl
{
    namespace app
    {
 
        class GKinematicCarPlanning : public KinematicCarPlanning,
                                    public RenderGeometry
        {
        public:
 
            GKinematicCarPlanning(void) : KinematicCarPlanning(),
                                        RenderGeometry(*dynamic_cast<const RigidBodyGeometry*>(this), getGeometricStateExtractor())
            {
            }
 
            virtual ~GKinematicCarPlanning(void)
            {
            }
        };
    }
}
 
#endif