State propagation with MORSE. Only forward propagation is possible. More...
|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::MorseEnvironmentPtr &||getEnvironment () const|
|Get the MORSE environment this state propagator operates on. |
|bool||canPropagateBackward () const override|
|Will always return false, as the simulation can only proceed forward in time. |
|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. |
|Public Member Functions inherited from ompl::control::StatePropagator|
|StatePropagator (SpaceInformation *si)|
|StatePropagator (const SpaceInformationPtr &si)|
|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. |
|The MORSE environment this state propagator operates on. |
|Protected Attributes inherited from ompl::control::StatePropagator|
|The instance of space information this state propagator operates on. |
State propagation with MORSE. Only forward propagation is possible.
At every propagation step, controls are applied using MorseEnvironment::applyControl(), and then worldStep() is called.
The documentation for this class was generated from the following files: