OpenDEStatePropagator.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_EXTENSION_OPENDE_STATE_PROPAGATOR_
38 #define OMPL_EXTENSION_OPENDE_STATE_PROPAGATOR_
39 
40 #include "ompl/control/SpaceInformation.h"
41 #include "ompl/extensions/opende/OpenDEEnvironment.h"
42 
43 namespace ompl
44 {
45  namespace control
46  {
61  {
62  public:
67 
68  ~OpenDEStatePropagator() override = default;
69 
72  {
73  return env_;
74  }
75 
76  bool canPropagateBackward() const override;
77 
78  void propagate(const base::State *state, const Control *control, const double duration,
79  base::State *result) const override;
80 
81  protected:
84  };
85  }
86 }
87 
88 #endif
void propagate(const base::State *state, const Control *control, const double duration, base::State *result) const override
Propagate from a state, given a control, for some specified amount of time (the amount of time can al...
Definition of an abstract control.
Definition: Control.h:47
Model the effect of controls on system states.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
const OpenDEEnvironmentPtr & getEnvironment() const
Get the OpenDE environment this state propagator operates on.
bool canPropagateBackward() const override
Some systems can only propagate forward in time (i.e., the duration argument for the propagate() func...
Definition of an abstract state.
Definition: State.h:49
A shared pointer wrapper for ompl::control::SpaceInformation.
OpenDEStatePropagator(const SpaceInformationPtr &si)
Construct a representation of OpenDE state propagator. If si->getStateSpace() does not cast to an Ope...
State propagation with OpenDE. Only forward propagation is possible.
OpenDEEnvironmentPtr env_
The OpenDE environment this state propagator operates on.
A shared pointer wrapper for ompl::control::OpenDEEnvironment.