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  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:
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...
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
const base::MorseEnvironmentPtr & getEnvironment() const
Get the MORSE environment this state propagator operates on.
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.
base::MorseEnvironmentPtr env_
The MORSE environment this state propagator operates on.
A shared pointer wrapper for ompl::base::MorseEnvironment.