MorseStatePropagator.h
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34 
35 /* Authors: Ioan Sucan, Caleb Voss */
36 
37 #ifndef OMPL_EXTENSION_MORSE_STATE_PROPAGATOR_
38 #define OMPL_EXTENSION_MORSE_STATE_PROPAGATOR_
39 
40 #include "ompl/control/SpaceInformation.h"
41 #include "ompl/extensions/morse/MorseEnvironment.h"
42 
43 namespace ompl
44 {
45  namespace control
46  {
53  class MorseStatePropagator : public StatePropagator
54  {
55  public:
60 
61  virtual ~MorseStatePropagator()
62  {
63  }
64 
66  const base::MorseEnvironmentPtr &getEnvironment() const
67  {
68  return env_;
69  }
70 
72  bool canPropagateBackward() const override;
73 
75  void propagate(const base::State *state, const Control *control, double duration,
76  base::State *result) const override;
77 
78  protected:
80  base::MorseEnvironmentPtr env_;
81  };
82  }
83 }
84 
85 #endif
A shared pointer wrapper for ompl::base::SpaceInformation.
bool canPropagateBackward() const override
Will always return false, as the simulation can only proceed forward in time.
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.
MorseStatePropagator(const SpaceInformationPtr &si)
Construct representation of a MORSE state propagator. If si->getStateSpace() does not cast to a Morse...
base::MorseEnvironmentPtr env_
The MORSE environment this state propagator operates on.
const base::MorseEnvironmentPtr & getEnvironment() const
Get the MORSE environment this state propagator operates on.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21