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<div class="title">ODEControlSpace.cpp</div> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">* Copyright (c) 2010, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">* are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">* with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#include "ompl/extensions/ode/ODEControlSpace.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/util/Exception.h"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include "ompl/util/Console.h"</span>
<a name="l00040"></a>00040
<a name="l00042"></a>00042 <span class="keyword">namespace </span>ompl
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044 <span class="keyword">const</span> control::ODEEnvironmentPtr& getODEStateSpaceEnvironmentWithCheck(<span class="keyword">const</span> base::StateSpacePtr &space)
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046 <span class="keywordflow">if</span> (!dynamic_cast<control::ODEStateSpace*>(space.get()))
<a name="l00047"></a>00047 <span class="keywordflow">throw</span> Exception(<span class="stringliteral">"ODE State Space needed for creating ODE Control Space"</span>);
<a name="l00048"></a>00048 <span class="keywordflow">return</span> space->as<control::ODEStateSpace>()->getEnvironment();
<a name="l00049"></a>00049 }
<a name="l00050"></a>00050 }
<a name="l00052"></a>00052
<a name="l00053"></a><a class="code" href="classompl_1_1control_1_1ODEControlSpace.html#a3b4a9fb22f06bca800de2ac6966609ff">00053</a> <a class="code" href="classompl_1_1control_1_1ODEControlSpace.html#a3b4a9fb22f06bca800de2ac6966609ff" title="Construct a representation of controls passed to ODE. If stateSpace does not cast to an ODEStateSpace...">ompl::control::ODEControlSpace::ODEControlSpace</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">base::StateSpacePtr</a> &stateSpace) :
<a name="l00054"></a>00054 <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html" title="A control space representing Rn. The distance function is the L2 norm.">RealVectorControlSpace</a>(stateSpace, getODEStateSpaceEnvironmentWithCheck(stateSpace)->getControlDimension())
<a name="l00055"></a>00055 {
<a name="l00056"></a>00056 <a class="code" href="classompl_1_1control_1_1ControlSpace.html#ae7138a1a3dd3b2dba3e222538707e15d" title="Set the name of the control space.">setName</a>(<span class="stringliteral">"ODE"</span> + <a class="code" href="classompl_1_1control_1_1ControlSpace.html#addb736f7c33b83c4d114d631910b38ad" title="Get the name of the control space.">getName</a>());
<a name="l00057"></a>00057 <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">base::RealVectorBounds</a> bounds(<a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a176e9568fbe1c7fd557e8890360d7be9" title="The dimension of the state space.">dimension_</a>);
<a name="l00058"></a>00058 <a class="code" href="classompl_1_1control_1_1ODEControlSpace.html#a35e410610498462a498ff8c62cdfa23c" title="Get the ODE environment this state space corresponds to.">getEnvironment</a>()->getControlBounds(bounds.<a class="code" href="classompl_1_1base_1_1RealVectorBounds.html#a36ebebb6a9e116093581afbd07425baa" title="Lower bound.">low</a>, bounds.<a class="code" href="classompl_1_1base_1_1RealVectorBounds.html#a06827561804a768d6ee86a20a664153c" title="Upper bound.">high</a>);
<a name="l00059"></a>00059 <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#ab21eee94cc69d207ab578b69a423660c" title="Set the bounds (min max values for each dimension) for the control.">setBounds</a>(bounds);
<a name="l00060"></a>00060 }
</pre></div></div>
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