StatePropagator.h

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/* Author: Ioan Sucan */

#ifndef OMPL_CONTROL_STATE_PROPAGATOR_
#define OMPL_CONTROL_STATE_PROPAGATOR_

#include "ompl/base/State.h"
#include "ompl/control/Control.h"
#include "ompl/util/ClassForward.h"

namespace ompl
{
    namespace control
    {
        OMPL_CLASS_FORWARD(SpaceInformation);


        OMPL_CLASS_FORWARD(StatePropagator);

        class StatePropagator
        {
        public:
            StatePropagator(SpaceInformation *si) : si_(si)
            {
            }

            StatePropagator(const SpaceInformationPtr &si) : si_(si.get())
            {
            }

            virtual ~StatePropagator() = default;

            virtual void propagate(const base::State *state, const Control *control, double duration,
                                   base::State *result) const = 0;

            virtual bool canPropagateBackward() const
            {
                return true;
            }

            virtual bool steer(const base::State * /*from*/, const base::State * /*to*/, Control * /*result*/,
                               double & /*duration*/) const
            {
                return false;
            }

            virtual bool canSteer() const
            {
                return false;
            }

        protected:
            SpaceInformation *si_;
        };
    }
}

#endif