Model the effect of controls on system states. More...
#include <ompl/control/StatePropagator.h>
Public Member Functions  
StatePropagator (SpaceInformation *si)  
Constructor.  
StatePropagator (const SpaceInformationPtr &si)  
Constructor.  
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 also be negative, if canPropagateBackward() returns true) More...  
virtual bool  canPropagateBackward () const 
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).  
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  
SpaceInformation *  si_ 
The instance of space information this state propagator operates on.  
Detailed Description
Model the effect of controls on system states.
Definition at line 61 of file StatePropagator.h.
Member Function Documentation
◆ propagate()

pure virtual 
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)
 Parameters

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
 Note
 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.
Implemented in ompl::control::OpenDEStatePropagator, ompl::control::MorseStatePropagator, and KoulesStatePropagator.
◆ steer()

inlinevirtual 
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;.
 Note
 If false is returned, the content of result and duration may have been changed, but it does not represent a solution;
Definition at line 112 of file StatePropagator.h.
The documentation for this class was generated from the following file:
 ompl/control/StatePropagator.h