StatePropagator.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_STATE_PROPAGATOR_
38 #define OMPL_CONTROL_STATE_PROPAGATOR_
39 
40 #include "ompl/base/State.h"
41 #include "ompl/control/Control.h"
42 #include "ompl/util/ClassForward.h"
43 
44 namespace ompl
45 {
46  namespace control
47  {
49  OMPL_CLASS_FORWARD(SpaceInformation);
51 
53 
54  OMPL_CLASS_FORWARD(StatePropagator);
56 
62  {
63  public:
66  {
67  }
68 
70  StatePropagator(const SpaceInformationPtr &si) : si_(si.get())
71  {
72  }
73 
74  virtual ~StatePropagator() = default;
75 
92  virtual void propagate(const base::State *state, const Control *control, double duration,
93  base::State *result) const = 0;
94 
100  virtual bool canPropagateBackward() const
101  {
102  return true;
103  }
104 
112  virtual bool steer(const base::State * /*from*/, const base::State * /*to*/, Control * /*result*/,
113  double & /*duration*/) const
114  {
115  return false;
116  }
117 
119  virtual bool canSteer() const
120  {
121  return false;
122  }
123 
124  protected:
127  };
128  }
129 }
130 
131 #endif
SpaceInformation * si_
The instance of space information this state propagator operates on.
Definition of an abstract control.
Definition: Control.h:47
virtual void propagate(const base::State *state, const Control *control, double duration, base::State *result) const =0
Propagate from a state, given a control, for some specified amount of time (the amount of time can al...
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
virtual bool steer(const base::State *, const base::State *, Control *, double &) const
Compute the control that can take the system from state from to state to. Store that control in resul...
A shared pointer wrapper for ompl::control::SpaceInformation.
StatePropagator(const SpaceInformationPtr &si)
Constructor.
virtual bool canPropagateBackward() const
Some systems can only propagate forward in time (i.e., the duration argument for the propagate() func...
Space information containing necessary information for planning with controls. setup() needs to be ca...
virtual bool canSteer() const
Return true if the steer() function has been implemented.
StatePropagator(SpaceInformation *si)
Constructor.