State propagation with MORSE. Only forward propagation is possible. More...
#include <ompl/extensions/morse/MorseStatePropagator.h>

Public Member Functions | |
MorseStatePropagator (const SpaceInformationPtr &si) | |
Construct representation of a MORSE state propagator. If si->getStateSpace() does not cast to a MorseStateSpace, an exception is thrown. More... | |
const base::MorseEnvironmentPtr & | getEnvironment () const |
Get the MORSE environment this state propagator operates on. More... | |
bool | canPropagateBackward () const override |
Will always return false, as the simulation can only proceed forward in time. More... | |
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. More... | |
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StatePropagator (SpaceInformation *si) | |
Constructor. More... | |
StatePropagator (const SpaceInformationPtr &si) | |
Constructor. More... | |
virtual void | propagate (const base::State *state, const Control *control, 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 also be negative, if canPropagateBackward() returns true) More... | |
virtual bool | canPropagateBackward () const |
Some systems can only propagate forward in time (i.e., the duration argument for the propagate() function is always positive). If this is the case, this function should return false. Planners that need backward propagation (negative durations) will call this function to check. If backward propagation is possible, this function should return true (this is the default). More... | |
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 result; the duration for which the control should be applied is stored in duration; return true if the computation was successful; return false otherwise;. More... | |
virtual bool | canSteer () const |
Return true if the steer() function has been implemented. More... | |
Protected Attributes | |
base::MorseEnvironmentPtr | env_ |
The MORSE environment this state propagator operates on. More... | |
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SpaceInformation * | si_ |
The instance of space information this state propagator operates on. More... | |
Detailed Description
State propagation with MORSE. Only forward propagation is possible.
At every propagation step, controls are applied using MorseEnvironment::applyControl(), and then worldStep() is called.
Definition at line 53 of file MorseStatePropagator.h.
Constructor & Destructor Documentation
◆ MorseStatePropagator()
ompl::control::MorseStatePropagator::MorseStatePropagator | ( | const SpaceInformationPtr & | si | ) |
Construct representation of a MORSE state propagator. If si->getStateSpace() does not cast to a MorseStateSpace, an exception is thrown.
Definition at line 42 of file MorseStatePropagator.cpp.
◆ ~MorseStatePropagator()
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inlinevirtual |
Definition at line 61 of file MorseStatePropagator.h.
Member Function Documentation
◆ canPropagateBackward()
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overridevirtual |
Will always return false, as the simulation can only proceed forward in time.
Reimplemented from ompl::control::StatePropagator.
Definition at line 74 of file MorseStatePropagator.cpp.
◆ getEnvironment()
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inline |
Get the MORSE environment this state propagator operates on.
Definition at line 66 of file MorseStatePropagator.h.
◆ propagate()
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overridevirtual |
Propagate from a state, under a given control, for some specified amount of time.
Implements ompl::control::StatePropagator.
Definition at line 50 of file MorseStatePropagator.cpp.
Member Data Documentation
◆ env_
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protected |
The MORSE environment this state propagator operates on.
Definition at line 80 of file MorseStatePropagator.h.
The documentation for this class was generated from the following files:
- ompl/extensions/morse/MorseStatePropagator.h
- ompl/extensions/morse/src/MorseStatePropagator.cpp