StatePropagator.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_STATE_PROPAGATOR_
38 #define OMPL_CONTROL_STATE_PROPAGATOR_
39 
40 #include "ompl/base/State.h"
41 #include "ompl/control/Control.h"
42 #include "ompl/util/ClassForward.h"
43 
44 namespace ompl
45 {
46  namespace control
47  {
49  OMPL_CLASS_FORWARD(SpaceInformation);
51 
53 
54  OMPL_CLASS_FORWARD(StatePropagator);
56 
61  class StatePropagator
62  {
63  public:
65  StatePropagator(SpaceInformation *si) : si_(si)
66  {
67  }
68 
70  StatePropagator(const SpaceInformationPtr &si) : si_(si.get())
71  {
72  }
73 
74  virtual ~StatePropagator() = default;
75 
92  virtual void propagate(const base::State *state, const Control *control, double duration,
93  base::State *result) const = 0;
94 
100  virtual bool canPropagateBackward() const
101  {
102  return true;
103  }
104 
112  virtual bool steer(const base::State * /*from*/, const base::State * /*to*/, Control * /*result*/,
113  double & /*duration*/) const
114  {
115  return false;
116  }
117 
119  virtual bool canSteer() const
120  {
121  return false;
122  }
123 
124  protected:
126  SpaceInformation *si_;
127  };
128  }
129 }
130 
131 #endif
A shared pointer wrapper for ompl::base::SpaceInformation.
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 resul...
virtual void propagate(const base::State *state, const Control *control, double duration, base::State *result) const =0
Propagate from a state, given a control, for some specified amount of time (the amount of time can al...
SpaceInformation * si_
The instance of space information this state propagator operates on.
virtual bool canSteer() const
Return true if the steer() function has been implemented.
StatePropagator(SpaceInformation *si)
Constructor.
virtual bool canPropagateBackward() const
Some systems can only propagate forward in time (i.e., the duration argument for the propagate() func...
Main namespace. Contains everything in this library.