OpenDEControlSpace.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2010, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_EXTENSION_OPENDE_CONTROL_SPACE_
38 #define OMPL_EXTENSION_OPENDE_CONTROL_SPACE_
39 
40 #include "ompl/control/spaces/RealVectorControlSpace.h"
41 #include "ompl/extensions/opende/OpenDEStateSpace.h"
42 
43 namespace ompl
44 {
45  namespace control
46  {
50  {
51  public:
55  OpenDEControlSpace(const base::StateSpacePtr &stateSpace);
56 
57  ~OpenDEControlSpace() override = default;
58 
61  {
63  }
64  };
65  }
66 }
67 
68 #endif
base::StateSpacePtr stateSpace_
The state space controls can be applied to.
Definition: ControlSpace.h:187
A shared pointer wrapper for ompl::base::StateSpace.
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
State space representing OpenDE states.
A control space representing Rn.
const OpenDEEnvironmentPtr & getEnvironment() const
Get the OpenDE environment this state space corresponds to.
Representation of controls applied in OpenDE environments. This is an array of double values...
A shared pointer wrapper for ompl::control::OpenDEEnvironment.