37 #include "ompl/extensions/opende/OpenDEControlSpace.h"
38 #include "ompl/util/Exception.h"
44 const control::OpenDEEnvironmentPtr& getOpenDEStateSpaceEnvironmentWithCheck(
const base::StateSpacePtr &space)
46 if (!dynamic_cast<control::OpenDEStateSpace*>(space.get()))
47 throw Exception(
"OpenDE State Space needed for creating OpenDE Control Space");
48 return space->as<control::OpenDEStateSpace>()->getEnvironment();
54 RealVectorControlSpace(stateSpace, getOpenDEStateSpaceEnvironmentWithCheck(stateSpace)->getControlDimension())