OpenDEControlSpace.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/extensions/opende/OpenDEControlSpace.h"
38 #include "ompl/util/Exception.h"
39 #include "ompl/util/Console.h"
40 
42 namespace ompl
43 {
44  const control::OpenDEEnvironmentPtr &getOpenDEStateSpaceEnvironmentWithCheck(const base::StateSpacePtr &space)
45  {
46  if (dynamic_cast<control::OpenDEStateSpace *>(space.get()) == nullptr)
47  throw Exception("OpenDE State Space needed for creating OpenDE Control Space");
48  return space->as<control::OpenDEStateSpace>()->getEnvironment();
49  }
50 }
52 
54  : RealVectorControlSpace(stateSpace, getOpenDEStateSpaceEnvironmentWithCheck(stateSpace)->getControlDimension())
55 {
56  setName("OpenDE" + getName());
59  getEnvironment()->getControlBounds(bounds.low, bounds.high);
60  setBounds(bounds);
61 }
std::vector< double > low
Lower bound.
A 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...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
unsigned int dimension_
The dimension of the state space.
A control space representing Rn.
int type_
A type assigned for this control space.
Definition: ControlSpace.h:184
std::vector< double > high
Upper bound.
const OpenDEEnvironmentPtr & getEnvironment() const
Get the OpenDE environment this state space corresponds to.
The lower and upper bounds for an Rn space.
const std::string & getName() const
Get the name of the control space.
void setBounds(const base::RealVectorBounds &bounds)
Set the bounds (min max values for each dimension) for the control.