OpenDEControlSpace.h
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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/ode/OpenDEStateSpace.h"
42 
43 namespace ompl
44 {
45  namespace control
46  {
49  class OpenDEControlSpace : public RealVectorControlSpace
50  {
51  public:
55  OpenDEControlSpace(const base::StateSpacePtr &stateSpace);
56 
57  ~OpenDEControlSpace() override = default;
58 
61  {
62  return stateSpace_->as<OpenDEStateSpace>()->getEnvironment();
63  }
64  };
65  }
66 }
67 
68 #endif
A shared pointer wrapper for ompl::control::OpenDEEnvironment.
base::StateSpacePtr stateSpace_
The state space controls can be applied to.
Definition: ControlSpace.h:254
const OpenDEEnvironmentPtr & getEnvironment() const
Get the OpenDE environment this state space corresponds to.
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