37 #include "ompl/extensions/morse/MorseControlSpace.h"
38 #include "ompl/util/Exception.h"
43 const base::MorseEnvironmentPtr& getMorseStateSpaceEnvironmentWithCheck(
const base::StateSpacePtr &space)
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();
std::vector< double > low
Lower bound.
A boost shared pointer wrapper for ompl::base::StateSpace.
Number of control space types; To add new types, use values that are larger than the count...
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...
unsigned int dimension_
The dimension of the state space.
const std::string & getName(void) const
Get the name of the control space.
A control space representing Rn.
int type_
A type assigned for this control space.
std::vector< double > high
Upper bound.
const base::MorseEnvironmentPtr & getEnvironment(void) const
Get the MORSE environment this state space corresponds to.
The lower and upper bounds for an Rn space.
void setBounds(const base::RealVectorBounds &bounds)
Set the bounds (min max values for each dimension) for the control.