OpenDEStatePropagator.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_EXTENSION_OPENDE_STATE_PROPAGATOR_
#define OMPL_EXTENSION_OPENDE_STATE_PROPAGATOR_
 
#include "ompl/control/SpaceInformation.h"
#include "ompl/extensions/ode/OpenDEEnvironment.h"
 
namespace ompl
{
    namespace control
    {
        class OpenDEStatePropagator : public StatePropagator
        {
        public:
            OpenDEStatePropagator(const SpaceInformationPtr &si);
 
            ~OpenDEStatePropagator() override = default;
 
            const OpenDEEnvironmentPtr &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:
            OpenDEEnvironmentPtr env_;
        };
    }
}
 
#endif