MorseStatePropagator.h

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/* Authors: Ioan Sucan, Caleb Voss */
 
#ifndef OMPL_EXTENSION_MORSE_STATE_PROPAGATOR_
#define OMPL_EXTENSION_MORSE_STATE_PROPAGATOR_
 
#include "ompl/control/SpaceInformation.h"
#include "ompl/extensions/morse/MorseEnvironment.h"
 
namespace ompl
{
    namespace control
    {
        class MorseStatePropagator : public StatePropagator
        {
        public:
            MorseStatePropagator(const SpaceInformationPtr &si);
 
            virtual ~MorseStatePropagator()
            {
            }
 
            const base::MorseEnvironmentPtr &getEnvironment() const
            {
                return env_;
            }
 
            bool canPropagateBackward() const override;
 
            void propagate(const base::State *state, const Control *control, double duration,
                           base::State *result) const override;
 
        protected:
            base::MorseEnvironmentPtr env_;
        };
    }
}
 
#endif