ompl::control::MorseStatePropagator Class Reference

State propagation with MORSE. Only forward propagation is possible. More...

#include <ompl/extensions/morse/MorseStatePropagator.h>

Inheritance diagram for ompl::control::MorseStatePropagator:

Public Member Functions

 MorseStatePropagator (const SpaceInformationPtr &si)
 Construct representation of a MORSE state propagator. If si->getStateSpace() does not cast to a MorseStateSpace, an exception is thrown.
 
const base::MorseEnvironmentPtrgetEnvironment () const
 Get the MORSE environment this state propagator operates on.
 
virtual bool canPropagateBackward () const
 Will always return false, as the simulation can only proceed forward in time.
 
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.
 
- Public Member Functions inherited from ompl::control::StatePropagator
 StatePropagator (SpaceInformation *si)
 Constructor.
 
 StatePropagator (const SpaceInformationPtr &si)
 Constructor.
 
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 result; the duration for which the control should be applied is stored in duration; return true if the computation was successful; return false otherwise;. More...
 
virtual bool canSteer () const
 Return true if the steer() function has been implemented.
 

Protected Attributes

base::MorseEnvironmentPtr env_
 The MORSE environment this state propagator operates on.
 
- Protected Attributes inherited from ompl::control::StatePropagator
SpaceInformationsi_
 The instance of space information this state propagator operates on.
 

Detailed Description

State propagation with MORSE. Only forward propagation is possible.

At every propagation step, controls are applied using MorseEnvironment::applyControl(), and then worldStep() is called.

Definition at line 53 of file MorseStatePropagator.h.


The documentation for this class was generated from the following files: