ompl/extensions/morse/MorseStatePropagator.h
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00034 
00035 /* Authors: Ioan Sucan, Caleb Voss */
00036 
00037 #ifndef OMPL_EXTENSION_MORSE_STATE_PROPAGATOR_
00038 #define OMPL_EXTENSION_MORSE_STATE_PROPAGATOR_
00039 
00040 #include "ompl/control/SpaceInformation.h"
00041 #include "ompl/extensions/morse/MorseEnvironment.h"
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace control
00047     {
00048 
00055         class MorseStatePropagator : public StatePropagator
00056         {
00057         public:
00058 
00062             MorseStatePropagator(const SpaceInformationPtr &si);
00063 
00064             virtual ~MorseStatePropagator()
00065             {
00066             }
00067 
00069             const base::MorseEnvironmentPtr& getEnvironment() const
00070             {
00071                 return env_;
00072             }
00073 
00075             virtual bool canPropagateBackward() const;
00076 
00078             virtual void propagate(const base::State *state, const Control *control, const double duration, base::State *result) const;
00079 
00080         protected:
00081 
00083             base::MorseEnvironmentPtr env_;
00084 
00085         };
00086     }
00087 }
00088 
00089 #endif
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