KoulesStatePropagator.cpp

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2013, Rice University
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Rice University nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
 
/* 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);
}