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 
43 namespace ompl
44 {
45 
46  namespace control
47  {
48 
56  {
57  public:
58 
63 
64  virtual ~MorseStatePropagator()
65  {
66  }
67 
70  {
71  return env_;
72  }
73 
75  virtual bool canPropagateBackward() const;
76 
78  virtual void propagate(const base::State *state, const Control *control, const double duration, base::State *result) const;
79 
80  protected:
81 
84 
85  };
86  }
87 }
88 
89 #endif
State propagation with MORSE. Only forward propagation is possible.
MorseStatePropagator(const SpaceInformationPtr &si)
Construct representation of a MORSE state propagator. If si->getStateSpace() does not cast to a Morse...
Definition of an abstract control.
Definition: Control.h:48
const base::MorseEnvironmentPtr & getEnvironment() const
Get the MORSE environment this state propagator operates on.
virtual void propagate(const base::State *state, const Control *control, const double duration, base::State *result) const
Propagate from a state, under a given control, for some specified amount of time. ...
Model the effect of controls on system states.
Main namespace. Contains everything in this library.
Definition: Cost.h:42
Definition of an abstract state.
Definition: State.h:50
A boost shared pointer wrapper for ompl::control::SpaceInformation.
virtual bool canPropagateBackward() const
Will always return false, as the simulation can only proceed forward in time.
base::MorseEnvironmentPtr env_
The MORSE environment this state propagator operates on.
A boost shared pointer wrapper for ompl::base::MorseEnvironment.