StatePropagator.h

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2011, 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: Ioan Sucan */
 
#ifndef OMPL_CONTROL_STATE_PROPAGATOR_
#define OMPL_CONTROL_STATE_PROPAGATOR_
 
#include "ompl/base/State.h"
#include "ompl/control/Control.h"
#include "ompl/util/ClassForward.h"
 
namespace ompl
{
    namespace control
    {
        OMPL_CLASS_FORWARD(SpaceInformation);
 
 
        OMPL_CLASS_FORWARD(StatePropagator);
 
        class StatePropagator
        {
        public:
            StatePropagator(SpaceInformation *si) : si_(si)
            {
            }
 
            StatePropagator(const SpaceInformationPtr &si) : si_(si.get())
            {
            }
 
            virtual ~StatePropagator() = default;
 
            virtual void propagate(const base::State *state, const Control *control, double duration,
                                   base::State *result) const = 0;
 
            virtual bool canPropagateBackward() const
            {
                return true;
            }
 
            virtual bool steer(const base::State * /*from*/, const base::State * /*to*/, Control * /*result*/,
                               double & /*duration*/) const
            {
                return false;
            }
 
            virtual bool canSteer() const
            {
                return false;
            }
 
        protected:
            SpaceInformation *si_;
        };
    }
}
 
#endif