ompl::control::MorseStatePropagator Class Reference

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

#include <ompl/extensions/morse/MorseStatePropagator.h>

Inheritance diagram for ompl::control::MorseStatePropagator:

List of all members.

Public Member Functions

 MorseStatePropagator (const SpaceInformationPtr &si)
 Construct representation of a MORSE state propagator. If si->getStateSpace() does not cast to a MorseStateSpace, an exception is thrown.
const base::MorseEnvironmentPtrgetEnvironment () const
 Get the MORSE environment this state propagator operates on.
virtual bool canPropagateBackward () const
 Will always return false, as the simulation can only proceed forward in time.
virtual void propagate (const base::State *state, const Control *control, const double duration, base::State *result) const
 Propagate from a state, under a given control, for some specified amount of time.

Protected Attributes

base::MorseEnvironmentPtr env_
 The MORSE environment this state propagator operates on.

Detailed Description

State propagation with MORSE. Only forward propagation is possible.

At every propagation step, controls are applied using MorseEnvironment::applyControl(), and then worldStep() is called.

Definition at line 55 of file MorseStatePropagator.h.


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