OpenDEControlSpace.h

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/* Author: Ioan Sucan */

#ifndef OMPL_EXTENSION_OPENDE_CONTROL_SPACE_
#define OMPL_EXTENSION_OPENDE_CONTROL_SPACE_

#include "ompl/control/spaces/RealVectorControlSpace.h"
#include "ompl/extensions/opende/OpenDEStateSpace.h"

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

            ~OpenDEControlSpace() override = default;

            const OpenDEEnvironmentPtr &getEnvironment() const
            {
                return stateSpace_->as<OpenDEStateSpace>()->getEnvironment();
            }
        };
    }
}

#endif