Loading...
Searching...
No Matches
MorseControlSpace.cpp
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2010, Rice University
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the Rice University nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Authors: Ioan Sucan, Caleb Voss */
36
37#include "ompl/extensions/morse/MorseControlSpace.h"
38#include "ompl/util/Exception.h"
39
41namespace ompl
42{
43 const base::MorseEnvironmentPtr &getMorseStateSpaceEnvironmentWithCheck(const base::StateSpacePtr &space)
44 {
45 // It doesn't make sense to have a MorseControlSpace without a MorseStateSpace
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();
49 }
50}
52
53ompl::control::MorseControlSpace::MorseControlSpace(const base::StateSpacePtr &stateSpace)
54 : RealVectorControlSpace(stateSpace, getMorseStateSpaceEnvironmentWithCheck(stateSpace)->controlDim_)
55{
56 setName("Morse" + getName());
59 getEnvironment()->getControlBounds(bounds.low, bounds.high);
60 setBounds(bounds);
61}
The lower and upper bounds for an Rn space.
int type_
A type assigned for this control space.
Definition: ControlSpace.h:184
const std::string & getName() const
Get the name of the control space.
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...
const base::MorseEnvironmentPtr & getEnvironment() const
Get the MORSE environment this state space corresponds to.
A control space representing Rn.
unsigned int dimension_
The dimension of the state space.
void setBounds(const base::RealVectorBounds &bounds)
Set the bounds (min max values for each dimension) for the control.
@ CONTROL_SPACE_TYPE_COUNT
Number of control space types; To add new types, use values that are larger than the count.
Main namespace. Contains everything in this library.