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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
43namespace ompl
44{
45 namespace control
46 {
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
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
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...
OpenDEEnvironmentPtr env_
The OpenDE environment this state propagator operates on.
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...
OpenDEStatePropagator(const SpaceInformationPtr &si)
Construct a representation of OpenDE state propagator. If si->getStateSpace() does not cast to an Ope...
const OpenDEEnvironmentPtr & getEnvironment() const
Get the OpenDE environment 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
Main namespace. Contains everything in this library.