OpenDEStatePropagator.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_EXTENSION_OPENDE_STATE_PROPAGATOR_
38 #define OMPL_EXTENSION_OPENDE_STATE_PROPAGATOR_
39 
40 #include "ompl/control/SpaceInformation.h"
41 #include "ompl/extensions/ode/OpenDEEnvironment.h"
42 
43 namespace ompl
44 {
45  namespace control
46  {
60  class OpenDEStatePropagator : public StatePropagator
61  {
62  public:
67 
68  ~OpenDEStatePropagator() override = default;
69 
72  {
73  return env_;
74  }
75 
76  bool canPropagateBackward() const override;
77 
78  void propagate(const base::State *state, const Control *control, double duration,
79  base::State *result) const override;
80 
81  protected:
84  };
85  }
86 }
87 
88 #endif
const OpenDEEnvironmentPtr & getEnvironment() const
Get the OpenDE environment this state propagator operates on.
A shared pointer wrapper for ompl::base::SpaceInformation.
OpenDEEnvironmentPtr env_
The OpenDE environment this state propagator operates on.
OpenDEStatePropagator(const SpaceInformationPtr &si)
Construct a representation of OpenDE state propagator. If si->getStateSpace() does not cast to an Ope...
A shared pointer wrapper for ompl::control::OpenDEEnvironment.
bool canPropagateBackward() const override
Some systems can only propagate forward in time (i.e., the duration argument for the propagate() func...
void propagate(const base::State *state, const Control *control, double duration, base::State *result) const override
Propagate from a state, given a control, for some specified amount of time (the amount of time can al...
Main namespace. Contains everything in this library.
Definition: AppBase.h:20