ompl/extensions/opende/OpenDEControlSpace.h
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2010, Rice University
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Rice University nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_EXTENSION_OPENDE_CONTROL_SPACE_
00038 #define OMPL_EXTENSION_OPENDE_CONTROL_SPACE_
00039 
00040 #include "ompl/control/spaces/RealVectorControlSpace.h"
00041 #include "ompl/extensions/opende/OpenDEStateSpace.h"
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace control
00047     {
00048 
00051         class OpenDEControlSpace : public RealVectorControlSpace
00052         {
00053         public:
00054 
00058             OpenDEControlSpace(const base::StateSpacePtr &stateSpace);
00059 
00060             virtual ~OpenDEControlSpace()
00061             {
00062             }
00063 
00065             const OpenDEEnvironmentPtr& getEnvironment() const
00066             {
00067                 return stateSpace_->as<OpenDEStateSpace>()->getEnvironment();
00068             }
00069 
00070         };
00071     }
00072 
00073 }
00074 
00075 
00076 #endif
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines