StatePropagator.h
95 virtual void propagate(const base::State *state, const Control *control, const double duration, base::State *result) const = 0;
112 virtual bool steer(const base::State* /*from*/, const base::State* /*to*/, Control* /*result*/, double& /*duration*/) const
SpaceInformation * si_
The instance of space information this state propagator operates on.
Definition: StatePropagator.h:126
virtual bool canSteer() const
Return true if the steer() function has been implemented.
Definition: StatePropagator.h:118
virtual 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 resul...
Definition: StatePropagator.h:112
virtual void propagate(const base::State *state, const Control *control, const double duration, base::State *result) const =0
Propagate from a state, given a control, for some specified amount of time (the amount of time can al...
virtual bool canPropagateBackward() const
Some systems can only propagate forward in time (i.e., the duration argument for the propagate() func...
Definition: StatePropagator.h:101
Model the effect of controls on system states.
Definition: StatePropagator.h:62
A boost shared pointer wrapper for ompl::control::SpaceInformation.
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:69