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  {
54  {
55  public:
60 
61  virtual ~MorseStatePropagator()
62  {
63  }
64 
67  {
68  return env_;
69  }
70 
72  virtual bool canPropagateBackward() const;
73 
75  virtual void propagate(const base::State *state, const Control *control, const double duration,
76  base::State *result) const;
77 
78  protected:
81  };
82  }
83 }
84 
85 #endif
State propagation with MORSE. Only forward propagation is possible.
MorseStatePropagator(const SpaceInformationPtr &si)
Construct representation of a MORSE state propagator. If si->getStateSpace() does not cast to a Morse...
Definition of an abstract control.
Definition: Control.h:47
const base::MorseEnvironmentPtr & getEnvironment() const
Get the MORSE environment this state propagator operates on.
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.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Definition of an abstract state.
Definition: State.h:49
A shared pointer wrapper for ompl::control::SpaceInformation.
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.
A shared pointer wrapper for ompl::base::MorseEnvironment.