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OpenDEControlSpace.h
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34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_EXTENSION_OPENDE_CONTROL_SPACE_
38#define OMPL_EXTENSION_OPENDE_CONTROL_SPACE_
39
40#include "ompl/control/spaces/RealVectorControlSpace.h"
41#include "ompl/extensions/ode/OpenDEStateSpace.h"
42
43namespace ompl
44{
45 namespace control
46 {
50 {
51 public:
55 OpenDEControlSpace(const base::StateSpacePtr &stateSpace);
56
57 ~OpenDEControlSpace() override = default;
58
61 {
63 }
64 };
65 }
66}
67
68#endif
base::StateSpacePtr stateSpace_
The state space controls can be applied to.
const OpenDEEnvironmentPtr & getEnvironment() const
Get the OpenDE environment this state space corresponds to.
OpenDEControlSpace(const base::StateSpacePtr &stateSpace)
Construct a representation of controls passed to OpenDE. If stateSpace does not cast to an OpenDEStat...
A shared pointer wrapper for ompl::control::OpenDEEnvironment.
State space representing OpenDE states.
RealVectorControlSpace(const base::StateSpacePtr &stateSpace, unsigned int dim)
Constructor takes the state space the controls correspond to and the dimension of the space of contro...
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition Control.h:45
Main namespace. Contains everything in this library.