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MorseStatePropagator.h
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34
35/* Authors: Ioan Sucan, Caleb Voss */
36
37#ifndef OMPL_EXTENSION_MORSE_STATE_PROPAGATOR_
38#define OMPL_EXTENSION_MORSE_STATE_PROPAGATOR_
39
40#include "ompl/control/SpaceInformation.h"
41#include "ompl/extensions/morse/MorseEnvironment.h"
42
43namespace ompl
44{
45 namespace control
46 {
54 {
55 public:
60
61 virtual ~MorseStatePropagator()
62 {
63 }
64
66 const base::MorseEnvironmentPtr &getEnvironment() const
67 {
68 return env_;
69 }
70
72 bool canPropagateBackward() const override;
73
75 void propagate(const base::State *state, const Control *control, double duration,
76 base::State *result) const override;
77
78 protected:
80 base::MorseEnvironmentPtr env_;
81 };
82 }
83}
84
85#endif
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition State.h:50
Definition of an abstract control.
Definition Control.h:48
MorseStatePropagator(const SpaceInformationPtr &si)
Construct representation of a MORSE state propagator. If si->getStateSpace() does not cast to a Morse...
const base::MorseEnvironmentPtr & getEnvironment() const
Get the MORSE environment this state propagator operates on.
base::MorseEnvironmentPtr env_
The MORSE environment this state propagator operates on.
bool canPropagateBackward() const override
Will always return false, as the simulation can only proceed forward in time.
void propagate(const base::State *state, const Control *control, double duration, base::State *result) const override
Propagate from a state, under a given control, for some specified amount of time.
StatePropagator(SpaceInformation *si)
Constructor.
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition Control.h:45
Main namespace. Contains everything in this library.