MorseControlSpace.h

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/* Authors: Ioan Sucan, Caleb Voss */

#ifndef OMPL_EXTENSION_MORSE_CONTROL_SPACE_
#define OMPL_EXTENSION_MORSE_CONTROL_SPACE_

#include "ompl/control/spaces/RealVectorControlSpace.h"
#include "ompl/extensions/morse/MorseStateSpace.h"

namespace ompl
{
    namespace control
    {
        class MorseControlSpace : public RealVectorControlSpace
        {
        public:
            MorseControlSpace(const base::StateSpacePtr &stateSpace);

            virtual ~MorseControlSpace()
            {
            }

            const base::MorseEnvironmentPtr &getEnvironment() const
            {
                return stateSpace_->as<base::MorseStateSpace>()->getEnvironment();
            }
        };
    }
}

#endif