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ompl::control::ODEStatePropagator Class Reference

State propagation with ODE. Only forward propagation is possible. More...

#include <ODEStatePropagator.h>

Inheritance diagram for ompl::control::ODEStatePropagator:

List of all members.

Public Member Functions

 ODEStatePropagator (const SpaceInformationPtr &si)
 Construct a representation of ODE state propagator. If si->getStateSpace() does not cast to an ODEStateSpace, an exception is thrown.
const ODEEnvironmentPtrgetEnvironment (void) const
 Get the ODE environment this state propagator operates on.
virtual bool canPropagateBackward (void) const
 Some systems can only propagate forward in time (i.e., the duration argument for the propagate() function is always positive). If this is the case, this function should return false. Planners that need backward propagation (negative durations) will call this function to check. If backward propagation is possible, this function should return true (this is the default).
virtual void propagate (const base::State *state, const Control *control, const double duration, base::State *result) const
 Propagate from a state, given a control, for some specified amount of time (the amount of time can also be negative, if canPropagateBackward() returns true)

Protected Attributes

ODEEnvironmentPtr env_
 The ODE environment this state propagator operates on.

Detailed Description

State propagation with ODE. Only forward propagation is possible.

At every propagation step, controls are applied using ODEEnvironment::applyControl(), contacts are computed by calling dSpaceCollide() on the spaces in ODEEnvironment::collisionSpaces_ and then dWorldQuickStep() is called. If the state argument of propagate() does not have its ODEStateSpace::StateType::collision field set, it is set based on the information returned by contact computation. Certain collisions (contacts) are allowed, as indicated by ODEEnvironment::isValidCollision().

Definition at line 62 of file ODEStatePropagator.h.


Member Function Documentation

void ompl::control::ODEStatePropagator::propagate ( const base::State state,
const Control control,
const double  duration,
base::State result 
) const [virtual]

Propagate from a state, given a control, for some specified amount of time (the amount of time can also be negative, if canPropagateBackward() returns true)

Parameters:
statethe state to start propagating from
controlthe control to apply
durationthe duration for which the control is applied
resultthe state the system is brought to
Note:
This function is not used for integration internally. If integrating a system of differential equations is needed, this should be implemented inside the propagate() function.
The pointer to the starting state and the result state may be the same.

Implements ompl::control::StatePropagator.

Definition at line 98 of file ODEStatePropagator.cpp.


The documentation for this class was generated from the following files: