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ompl::control::StatePropagator Class Reference
Inheritance diagram for ompl::control::StatePropagator:

List of all members.

Public Member Functions

 StatePropagator (SpaceInformation *si)
 Constructor.
 StatePropagator (const SpaceInformationPtr &si)
 Constructor.
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 also be negative, if canPropagateBackward() returns true)
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).

Protected Attributes

SpaceInformationsi_
 The instance of space information this state validity checker operates on.

Detailed Description

Definition at line 57 of file StatePropagator.h.


Member Function Documentation

virtual void ompl::control::StatePropagator::propagate ( const base::State state,
const Control control,
const double  duration,
base::State result 
) const [pure 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.

Implemented in ompl::control::ODEStatePropagator.


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