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MorseStatePropagator.cpp
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34
35/* Author: Caleb Voss */
36
37#include "ompl/extensions/morse/MorseStatePropagator.h"
38#include "ompl/control/spaces/RealVectorControlSpace.h"
39#include "ompl/extensions/morse/MorseStateSpace.h"
40#include "ompl/util/Exception.h"
41
43{
44 if (base::MorseStateSpace *mss = dynamic_cast<base::MorseStateSpace *>(si->getStateSpace().get()))
45 env_ = mss->getEnvironment();
46 else
47 throw Exception("MORSE State Space needed for MorseStatePropagator");
48}
49
51 double duration, base::State *result) const
52{
53 std::lock_guard<std::mutex> lock(env_->mutex_);
54
55 // place the MORSE world at the start state
56 si_->getStateSpace()->as<base::MorseStateSpace>()->writeState(state);
57
58 // convert control into vector of doubles
59 std::vector<double> controlVec;
60 const double *conVals = control->as<RealVectorControlSpace::ControlType>()->values;
61 for (unsigned int i = 0; i < env_->controlDim_; i++)
62 controlVec.push_back(conVals[i]);
63
64 // apply the controls
65 env_->applyControl(controlVec);
66
67 // propagate one step forward
68 env_->worldStep(duration);
69
70 // read the final state from the MORSE world
71 si_->getStateSpace()->as<base::MorseStateSpace>()->readState(result);
72}
73
The exception type for ompl.
Definition Exception.h:47
State space representing MORSE states.
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition State.h:50
Definition of an abstract control.
Definition Control.h:48
MorseStatePropagator(const SpaceInformationPtr &si)
Construct representation of a MORSE state propagator. If si->getStateSpace() does not cast to a Morse...
base::MorseEnvironmentPtr env_
The MORSE environment this state propagator operates on.
bool canPropagateBackward() const override
Will always return false, as the simulation can only proceed forward in time.
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.
SpaceInformation * si_
The instance of space information this state propagator operates on.
StatePropagator(SpaceInformation *si)
Constructor.
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition Control.h:45