KoulesStatePropagator.cpp

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/* Author: Beck Chen, Mark Moll */
 
#include <ompl/control/SpaceInformation.h>
#include "KoulesConfig.h"
#include "KoulesSimulator.h"
#include "KoulesStatePropagator.h"
 
namespace ob = ompl::base;
namespace oc = ompl::control;
 
KoulesStatePropagator::KoulesStatePropagator(const ompl::control::SpaceInformationPtr &si)
  : ompl::control::StatePropagator(si), simulator_(new KoulesSimulator(si.get()))
{
}
 
KoulesStatePropagator::~KoulesStatePropagator()
{
    delete simulator_;
}
 
void KoulesStatePropagator::propagate(const ob::State *start, const oc::Control *control, const double duration,
                                      ob::State *result) const
{
    simulator_->step(start, control, duration, result);
}