demos/Koules/KoulesStateSpace.h
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00034 
00035 /* Author: Beck Chen, Mark Moll */
00036 
00037 #ifndef DEMOS_KOULES_STATESPACE_
00038 #define DEMOS_KOULES_STATESPACE_
00039 
00040 #include "KoulesConfig.h"
00041 #include <ompl/base/spaces/RealVectorStateSpace.h>
00042 
00044 class KoulesStateSpace : public ompl::base::RealVectorStateSpace
00045 {
00046 public:
00047     KoulesStateSpace(unsigned int numKoules);
00048 
00049     virtual void registerProjections(void);
00050 
00051     double getMass(unsigned int i) const
00052     {
00053         return mass_[i];
00054     }
00055     double getRadius(unsigned int i) const
00056     {
00057         return radius_[i];
00058     }
00059     bool isDead(const ompl::base::State* state, unsigned int i) const;
00060 
00061 protected:
00062     std::vector<double> mass_;
00063     std::vector<double> radius_;
00064 };
00066 
00067 #endif
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