StatePropagator.h
95 virtual void propagate(const base::State *state, const Control *control, const double duration, base::State *result) const = 0;
112 virtual bool steer(const base::State* /*from*/, const base::State* /*to*/, Control* /*result*/, double& /*duration*/) const
SpaceInformation * si_
The instance of space information this state propagator operates on.
Definition: StatePropagator.h:126
virtual void propagate(const base::State *state, const Control *control, const 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...
Model the effect of controls on system states.
Definition: StatePropagator.h:62
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...
Definition: StatePropagator.h:112
A boost shared pointer wrapper for ompl::control::SpaceInformation.
virtual bool canPropagateBackward() const
Some systems can only propagate forward in time (i.e., the duration argument for the propagate() func...
Definition: StatePropagator.h:101
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:69
virtual bool canSteer() const
Return true if the steer() function has been implemented.
Definition: StatePropagator.h:118