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  const 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
const StateSpacePtr & getStateSpace() const
Return the instance of the used state space.
SpaceInformation * si_
The instance of space information this state propagator operates on.
State space representing MORSE states.
Definition of an abstract control.
Definition: Control.h:47
virtual void propagate(const base::State *state, const Control *control, const double duration, base::State *result) const
Propagate from a state, under a given control, for some specified amount of time. ...
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
virtual bool canPropagateBackward() const
Will always return false, as the simulation can only proceed forward in time.
base::MorseEnvironmentPtr env_
The MORSE environment this state propagator operates on.