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ODEStatePropagator.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_EXTENSION_ODE_STATE_PROPAGATOR_
00038 #define OMPL_EXTENSION_ODE_STATE_PROPAGATOR_
00039 
00040 #include "ompl/control/SpaceInformation.h"
00041 #include "ompl/extensions/ode/ODEEnvironment.h"
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace control
00047     {
00048 
00062         class ODEStatePropagator : public StatePropagator
00063         {
00064         public:
00065 
00069             ODEStatePropagator(const SpaceInformationPtr &si);
00070 
00071             virtual ~ODEStatePropagator(void)
00072             {
00073             }
00074 
00076             const ODEEnvironmentPtr& getEnvironment(void) const
00077             {
00078                 return env_;
00079             }
00080 
00081             virtual bool canPropagateBackward(void) const;
00082 
00083             virtual void propagate(const base::State *state, const Control* control, const double duration, base::State *result) const;
00084 
00085         protected:
00086 
00088             ODEEnvironmentPtr env_;
00089 
00090         };
00091     }
00092 
00093 }
00094 
00095 #endif