MorseControlSpace.cpp
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34 
35 /* Authors: Ioan Sucan, Caleb Voss */
36 
37 #include "ompl/extensions/morse/MorseControlSpace.h"
38 #include "ompl/util/Exception.h"
39 
41 namespace ompl
42 {
43  const base::MorseEnvironmentPtr &getMorseStateSpaceEnvironmentWithCheck(const base::StateSpacePtr &space)
44  {
45  // It doesn't make sense to have a MorseControlSpace without a MorseStateSpace
46  if (!dynamic_cast<base::MorseStateSpace *>(space.get()))
47  throw Exception("MORSE State Space needed for creating MORSE Control Space");
48  return space->as<base::MorseStateSpace>()->getEnvironment();
49  }
50 }
52 
53 ompl::control::MorseControlSpace::MorseControlSpace(const base::StateSpacePtr &stateSpace)
54  : RealVectorControlSpace(stateSpace, getMorseStateSpaceEnvironmentWithCheck(stateSpace)->controlDim_)
55 {
56  setName("Morse" + getName());
59  getEnvironment()->getControlBounds(bounds.low, bounds.high);
60  setBounds(bounds);
61 }
void setBounds(const base::RealVectorBounds &bounds)
Set the bounds (min max values for each dimension) for the control.
unsigned int dimension_
The dimension of the state space.
const std::string & getName() const
Get the name of the control space.
void setName(const std::string &name)
Set the name of the control space.
MorseControlSpace(const base::StateSpacePtr &stateSpace)
Construct a representation of controls passed to MORSE. If stateSpace does not cast to an MorseStateS...
int type_
A type assigned for this control space.
Definition: ControlSpace.h:251
const base::MorseEnvironmentPtr & getEnvironment() const
Get the MORSE environment this state space corresponds to.
@ CONTROL_SPACE_TYPE_COUNT
Number of control space types; To add new types, use values that are larger than the count.
A control space representing Rn.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
The lower and upper bounds for an Rn space.