KoulesStatePropagator.cpp
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34 
35 /* Author: Beck Chen, Mark Moll */
36 
37 #include <ompl/control/SpaceInformation.h>
38 #include "KoulesConfig.h"
39 #include "KoulesSimulator.h"
40 #include "KoulesStatePropagator.h"
41 
42 namespace ob = ompl::base;
43 namespace oc = ompl::control;
44 
45 KoulesStatePropagator::KoulesStatePropagator(const ompl::control::SpaceInformationPtr &si) :
46  ompl::control::StatePropagator(si), simulator_(new KoulesSimulator(si.get()))
47 {
48 }
49 
50 KoulesStatePropagator::~KoulesStatePropagator()
51 {
52  delete simulator_;
53 }
54 
55 void KoulesStatePropagator::propagate(const ob::State *start, const oc::Control* control,
56  const double duration, ob::State *result) const
57 {
58  simulator_->step(start, control, duration, result);
59 }
Definition of an abstract control.
Definition: Control.h:47
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition: Control.h:44
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
virtual void propagate(const ompl::base::State *start, const ompl::control::Control *control, const double duration, ompl::base::State *result) const
Propagate from a state, given a control, for some specified amount of time (the amount of time can al...
Definition of an abstract state.
Definition: State.h:49
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: Cost.h:44
A shared pointer wrapper for ompl::control::SpaceInformation.