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  /* Author: Ioan Sucan */
  
  #ifndef OMPL_EXTENSION_OPENDE_CONTROL_SPACE_
  #define OMPL_EXTENSION_OPENDE_CONTROL_SPACE_
  
  #include "ompl/control/spaces/RealVectorControlSpace.h"
  #include "ompl/extensions/opende/OpenDEStateSpace.h"
  
  namespace ompl
  {
  
      namespace control
      {
  
          /** \brief Representation of controls applied in OpenDE
              environments. This is an array of double values. */
          class OpenDEControlSpace : public RealVectorControlSpace
          {
          public:
  
              /** \brief Construct a representation of controls passed
                  to OpenDE. If \e stateSpace does not cast to an
                  OpenDEStateSpace, an exception is thrown. */
              OpenDEControlSpace(const base::StateSpacePtr &stateSpace);
  
              virtual ~OpenDEControlSpace()
              {
              }
  
              /** \brief Get the OpenDE environment this state space corresponds to */
              const OpenDEEnvironmentPtr& getEnvironment() const
              {
                  return stateSpace_->as<OpenDEStateSpace>()->getEnvironment();
              }
  
          };
      }
  
  }
  
  
  #endif
  