KoulesStateSpace.h
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34 
35 /* Author: Beck Chen, Mark Moll */
36 
37 #ifndef DEMOS_KOULES_STATESPACE_
38 #define DEMOS_KOULES_STATESPACE_
39 
40 #include "KoulesConfig.h"
41 #include <ompl/base/spaces/RealVectorStateSpace.h>
42 
44 class KoulesStateSpace : public ompl::base::RealVectorStateSpace
45 {
46 public:
47  KoulesStateSpace(unsigned int numKoules);
48 
49  virtual void registerProjections();
50 
51  double getMass(unsigned int i) const
52  {
53  return mass_[i];
54  }
55  double getRadius(unsigned int i) const
56  {
57  return radius_[i];
58  }
59  bool isDead(const ompl::base::State* state, unsigned int i) const;
60 
61 protected:
62  std::vector<double> mass_;
63  std::vector<double> radius_;
64 };
66 
67 #endif
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection...
A state space representing Rn. The distance function is the L2 norm.
Definition of an abstract state.
Definition: State.h:49