<reponame>ericpairet/ompl
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/* Authors: <NAME>, <NAME> */

#include "ompl/extensions/morse/MorseControlSpace.h"
#include "ompl/util/Exception.h"

/// @cond IGNORE
namespace ompl
{
    const base::MorseEnvironmentPtr &getMorseStateSpaceEnvironmentWithCheck(const base::StateSpacePtr &space)
    {
        // It doesn't make sense to have a MorseControlSpace without a MorseStateSpace
        if (!dynamic_cast<base::MorseStateSpace *>(space.get()))
            throw Exception("MORSE State Space needed for creating MORSE Control Space");
        return space->as<base::MorseStateSpace>()->getEnvironment();
    }
}
/// @endcond

ompl::control::MorseControlSpace::MorseControlSpace(const base::StateSpacePtr &stateSpace)
  : RealVectorControlSpace(stateSpace, getMorseStateSpaceEnvironmentWithCheck(stateSpace)->controlDim_)
{
    setName("Morse" + getName());
    type_ = CONTROL_SPACE_TYPE_COUNT + 1;
    base::RealVectorBounds bounds(dimension_);
    getEnvironment()->getControlBounds(bounds.low, bounds.high);
    setBounds(bounds);
}
