MorseStatePropagator.cpp
42 ompl::control::MorseStatePropagator::MorseStatePropagator(const SpaceInformationPtr &si) : StatePropagator(si)
44 if (base::MorseStateSpace *mss = dynamic_cast<base::MorseStateSpace*>(si->getStateSpace().get()))
50 void ompl::control::MorseStatePropagator::propagate(const base::State *state, const Control *control, const double duration, base::State *result) const
MorseStatePropagator(const SpaceInformationPtr &si)
Construct representation of a MORSE state propagator. If si->getStateSpace() does not cast to a Morse...
Definition: MorseStatePropagator.cpp:42
const StateSpacePtr & getStateSpace() const
Return the instance of the used state space.
Definition: SpaceInformation.h:104
SpaceInformation * si_
The instance of space information this state propagator operates on.
Definition: StatePropagator.h:126
virtual void propagate(const base::State *state, const Control *control, const double duration, base::State *result) const
Propagate from a state, under a given control, for some specified amount of time. ...
Definition: MorseStatePropagator.cpp:50
Model the effect of controls on system states.
Definition: StatePropagator.h:62
The definition of a control in Rn
Definition: RealVectorControlSpace.h:68
A boost shared pointer wrapper for ompl::control::SpaceInformation.
virtual bool canPropagateBackward() const
Will always return false, as the simulation can only proceed forward in time.
Definition: MorseStatePropagator.cpp:73
base::MorseEnvironmentPtr env_
The MORSE environment this state propagator operates on.
Definition: MorseStatePropagator.h:83