SemiTorusStateSpace.h

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namespace or_lemur {

class SemiTorusStateSpace: public ompl::base::RealVectorStateSpace
{
public:
   SemiTorusStateSpace(unsigned int dim=0);
   
   virtual void setIsWrapping(const std::vector<bool> &isWrapping);
   virtual const std::vector<bool> & getIsWrapping() const { return isWrapping_; }

   virtual void addDimension(double minBound=0.0, double maxBound=0.0, bool isWrapping=false);
   virtual void addDimension(const std::string &name, double minBound=0.0, double maxBound=0.0, bool isWrapping=false);
   
   virtual double getMaximumExtent() const;
   virtual double distance(const ompl::base::State *state1, const ompl::base::State *state2) const;
   virtual bool equalStates(const ompl::base::State *state1, const ompl::base::State *state2) const;
   virtual void interpolate(const ompl::base::State *from, const ompl::base::State *to, const double t, ompl::base::State *state) const;
   
private:
   std::vector<bool> isWrapping_;
};

} // namespace or_lemur