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MorseEnvironment.cpp
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34
35/* Author: Caleb Voss */
36
37#include "ompl/extensions/morse/MorseEnvironment.h"
38
39void ompl::base::MorseEnvironment::getControlBounds(std::vector<double> &lower, std::vector<double> &upper) const
40{
41 // copy out the control bounds data into separate upper and lower bound vectors
42 lower.resize(controlDim_);
43 upper.resize(controlDim_);
44 for (unsigned int i = 0; i < controlBounds_.size() / 2; i++)
45 {
46 lower[i] = controlBounds_[2 * i];
47 upper[i] = controlBounds_[2 * i + 1];
48 }
49}
const std::vector< double > controlBounds_
Upper and lower bounds for each control dimension.
const unsigned int controlDim_
The dimension of the control space for this simulation.
void getControlBounds(std::vector< double > &lower, std::vector< double > &upper) const
Get the control bounds – the bounding box in which to sample controls.