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

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::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)
	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
SpaceInformation *	si_
	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 117 of file MorseStatePropagator.h.

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

Public Member Functions