Model the effect of controls on system states. More...
#include <StatePropagator.h>
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) More... | |
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). | |
bool | steer (const base::State *from, const base::State *to, Control *result, double &duration) 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 | |
SpaceInformation * | si_ |
The instance of space information this state propagator operates on. | |
Model the effect of controls on system states.
Definition at line 62 of file StatePropagator.h.
|
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)
state | the state to start propagating from |
control | the control to apply |
duration | the duration for which the control is applied |
result | the state the system is brought to |
Implemented in ompl::control::OpenDEStatePropagator.
|
inline |
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;.
Definition at line 112 of file StatePropagator.h.