MorseStatePropagator.cpp
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34 
35 /* Author: Caleb Voss */
36 
37 #include "ompl/extensions/morse/MorseStatePropagator.h"
38 #include "ompl/control/spaces/RealVectorControlSpace.h"
39 #include "ompl/extensions/morse/MorseStateSpace.h"
40 #include "ompl/util/Exception.h"
41 
43 {
44  if (base::MorseStateSpace *mss = dynamic_cast<base::MorseStateSpace *>(si->getStateSpace().get()))
45  env_ = mss->getEnvironment();
46  else
47  throw Exception("MORSE State Space needed for MorseStatePropagator");
48 }
49 
51  double duration, base::State *result) const
52 {
53  std::lock_guard<std::mutex> lock(env_->mutex_);
54 
55  // place the MORSE world at the start state
56  si_->getStateSpace()->as<base::MorseStateSpace>()->writeState(state);
57 
58  // convert control into vector of doubles
59  std::vector<double> controlVec;
60  const double *conVals = control->as<RealVectorControlSpace::ControlType>()->values;
61  for (unsigned int i = 0; i < env_->controlDim_; i++)
62  controlVec.push_back(conVals[i]);
63 
64  // apply the controls
65  env_->applyControl(controlVec);
66 
67  // propagate one step forward
68  env_->worldStep(duration);
69 
70  // read the final state from the MORSE world
71  si_->getStateSpace()->as<base::MorseStateSpace>()->readState(result);
72 }
73 
75 {
76  return false;
77 }
MorseStatePropagator(const SpaceInformationPtr &si)
Construct representation of a MORSE state propagator. If si->getStateSpace() does not cast to a Morse...
const T * as() const
Cast this instance to a desired type.
Definition: Control.h:64
State space representing MORSE states.
void propagate(const base::State *state, const Control *control, double duration, base::State *result) const override
Propagate from a state, under a given control, for some specified amount of time. ...
bool canPropagateBackward() const override
Will always return false, as the simulation can only proceed forward in time.
Definition of an abstract control.
Definition: Control.h:47
Model the effect of controls on system states.
Definition of an abstract state.
Definition: State.h:49
A shared pointer wrapper for ompl::control::SpaceInformation.
The exception type for ompl.
Definition: Exception.h:46
base::MorseEnvironmentPtr env_
The MORSE environment this state propagator operates on.