KoulesStateSpace.h

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/* Author: Beck Chen, Mark Moll */
 
#ifndef DEMOS_KOULES_STATESPACE_
#define DEMOS_KOULES_STATESPACE_
 
#include "KoulesConfig.h"
#include <ompl/base/spaces/RealVectorStateSpace.h>
 
class KoulesStateSpace : public ompl::base::RealVectorStateSpace
{
public:
    KoulesStateSpace(unsigned int numKoules);
 
    virtual void registerProjections();
 
    double getMass(unsigned int i) const
    {
        return mass_[i];
    }
    double getRadius(unsigned int i) const
    {
        return radius_[i];
    }
    bool isDead(const ompl::base::State* state, unsigned int i) const;
 
protected:
    std::vector<double> mass_;
    std::vector<double> radius_;
};
 
#endif