KoulesStatePropagator.h
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34 
35 /* Author: Beck Chen, Mark Moll */
36 
37 #ifndef DEMOS_KOULES_STATEPROPAGATOR_
38 #define DEMOS_KOULES_STATEPROPAGATOR_
39 
40 #include <ompl/control/StatePropagator.h>
41 
42 class KoulesSimulator;
43 
44 // State propagator for KoulesSetup.
46 {
47 public:
50 
51  virtual void propagate(const ompl::base::State *start, const ompl::control::Control* control,
52  const double duration, ompl::base::State *result) const;
53 
54 protected:
55  // The simulator_ is mutable. This is normally a very BAD idea, since
56  // planners can be multi-threaded. However, none of the planners used
57  // here are multi-threaded, so it's safe.
58  mutable KoulesSimulator* simulator_;
59 };
60 
61 #endif
Definition of an abstract control.
Definition: Control.h:47
Model the effect of controls on system states.
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
A shared pointer wrapper for ompl::control::SpaceInformation.