ompl/extensions/opende/src/OpenDEControlSpace.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/extensions/opende/OpenDEControlSpace.h"
00038 #include "ompl/util/Exception.h"
00039 #include "ompl/util/Console.h"
00040 
00042 namespace ompl
00043 {
00044     const control::OpenDEEnvironmentPtr& getOpenDEStateSpaceEnvironmentWithCheck(const base::StateSpacePtr &space)
00045     {
00046         if (!dynamic_cast<control::OpenDEStateSpace*>(space.get()))
00047             throw Exception("OpenDE State Space needed for creating OpenDE Control Space");
00048         return space->as<control::OpenDEStateSpace>()->getEnvironment();
00049     }
00050 }
00052 
00053 ompl::control::OpenDEControlSpace::OpenDEControlSpace(const base::StateSpacePtr &stateSpace) :
00054     RealVectorControlSpace(stateSpace, getOpenDEStateSpaceEnvironmentWithCheck(stateSpace)->getControlDimension())
00055 {
00056     setName("OpenDE" + getName());
00057     type_ = CONTROL_SPACE_TYPE_COUNT + 1;
00058     base::RealVectorBounds bounds(dimension_);
00059     getEnvironment()->getControlBounds(bounds.low, bounds.high);
00060     setBounds(bounds);
00061 }
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