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KoulesStatePropagator.cpp
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34
35/* Author: Beck Chen, Mark Moll */
36
37#include <ompl/control/SpaceInformation.h>
38#include "KoulesConfig.h"
39#include "KoulesSimulator.h"
40#include "KoulesStatePropagator.h"
41
42namespace ob = ompl::base;
43namespace oc = ompl::control;
44
45KoulesStatePropagator::KoulesStatePropagator(const ompl::control::SpaceInformationPtr &si) :
46 ompl::control::StatePropagator(si), simulator_(new KoulesSimulator(si.get()))
47{
48}
49
50KoulesStatePropagator::~KoulesStatePropagator()
51{
52 delete simulator_;
53}
54
55void KoulesStatePropagator::propagate(const ob::State *start, const oc::Control* control,
56 const double duration, ob::State *result) const
57{
58 simulator_->step(start, control, duration, result);
59}
virtual void propagate(const ompl::base::State *start, const ompl::control::Control *control, const double duration, ompl::base::State *result) const
Propagate from a state, given a control, for some specified amount of time (the amount of time can al...
Definition of an abstract state.
Definition: State.h:50
Definition of an abstract control.
Definition: Control.h:48
A shared pointer wrapper for ompl::control::SpaceInformation.
This namespace contains sampling based planning routines shared by both planning under geometric cons...
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition: Control.h:45
Main namespace. Contains everything in this library.