OpenDEControlSpace.cpp

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/* Author: Ioan Sucan */
 
#include "ompl/extensions/ode/OpenDEControlSpace.h"
#include "ompl/util/Exception.h"
#include "ompl/util/Console.h"
 
namespace ompl
{
    const control::OpenDEEnvironmentPtr &getOpenDEStateSpaceEnvironmentWithCheck(const base::StateSpacePtr &space)
    {
        if (dynamic_cast<control::OpenDEStateSpace *>(space.get()) == nullptr)
            throw Exception("OpenDE State Space needed for creating OpenDE Control Space");
        return space->as<control::OpenDEStateSpace>()->getEnvironment();
    }
}
 
ompl::control::OpenDEControlSpace::OpenDEControlSpace(const base::StateSpacePtr &stateSpace)
  : RealVectorControlSpace(stateSpace, getOpenDEStateSpaceEnvironmentWithCheck(stateSpace)->getControlDimension())
{
    setName("OpenDE" + getName());
    type_ = CONTROL_SPACE_TYPE_COUNT + 1;
    base::RealVectorBounds bounds(dimension_);
    getEnvironment()->getControlBounds(bounds.low, bounds.high);
    setBounds(bounds);
}