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/* Author: Caleb Voss */

#include "ompl/extensions/morse/MorseEnvironment.h"

void ompl::base::MorseEnvironment::getControlBounds(std::vector<double> &lower, std::vector<double> &upper) const
{
    // copy out the control bounds data into separate upper and lower bound vectors
    lower.resize(controlDim_);
    upper.resize(controlDim_);
    for (unsigned int i = 0; i < controlBounds_.size() / 2; i++)
    {
        lower[i] = controlBounds_[2 * i];
        upper[i] = controlBounds_[2 * i + 1];
    }
}
