State propagation with OpenDE. Only forward propagation is possible. More...
|OpenDEStatePropagator (const SpaceInformationPtr &si)|
|Construct a representation of OpenDE state propagator. If si->getStateSpace() does not cast to an OpenDEStateSpace, an exception is thrown. |
|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() function is always positive). If this is the case, this function should return false. Planners that need backward propagation (negative durations) will call this function to check. If backward propagation is possible, this function should return true (this is the default). |
|void||propagate (const base::State *state, const Control *control, 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 also be negative, if canPropagateBackward() returns true) More...|
|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 OpenDE 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 OpenDE. Only forward propagation is possible.
At every propagation step, controls are applied using OpenDEEnvironment::applyControl(), contacts are computed by calling dSpaceCollide() on the spaces in OpenDEEnvironment::collisionSpaces_ and then dWorldQuickStep() is called. If the state argument of propagate() does not have its OpenDEStateSpace::StateType::collision field set, it is set based on the information returned by contact computation. Certain collisions (contacts) are allowed, as indicated by OpenDEEnvironment::isValidCollision().
Member Function Documentation
Propagate from a state, given a control, for some specified amount of time (the amount of time can also be negative, if canPropagateBackward() returns true)
state the state to start propagating from control the control to apply duration the duration for which the control is applied result the state the system is brought to
- This function is not used for integration internally. If integrating a system of differential equations is needed, this should be implemented inside the propagate() function.
- The pointer to the starting state and the result state may be the same.
The documentation for this class was generated from the following files: