State propagation with MORSE. Only forward propagation is possible. More...
#include <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. | |
const base::MorseEnvironmentPtr & | getEnvironment (void) const |
Get the MORSE environment this state propagator operates on. | |
virtual bool | canPropagateBackward (void) const |
Will always return false, as the simulation can only proceed forward in time. | |
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. | |
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StatePropagator (SpaceInformation *si) | |
Constructor. | |
StatePropagator (const SpaceInformationPtr &si) | |
Constructor. | |
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... | |
Protected Attributes | |
base::MorseEnvironmentPtr | env_ |
The MORSE environment this state propagator operates on. | |
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SpaceInformation * | si_ |
The instance of space information this state propagator operates on. | |
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 55 of file MorseStatePropagator.h.