demos/Koules/KoulesStatePropagator.cpp
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00034 
00035 /* Author: Beck Chen, Mark Moll */
00036 
00037 #include <ompl/control/SpaceInformation.h>
00038 #include "KoulesConfig.h"
00039 #include "KoulesSimulator.h"
00040 #include "KoulesStatePropagator.h"
00041 
00042 namespace ob = ompl::base;
00043 namespace oc = ompl::control;
00044 
00045 KoulesStatePropagator::KoulesStatePropagator(const ompl::control::SpaceInformationPtr &si) :
00046     ompl::control::StatePropagator(si), simulator_(new KoulesSimulator(si.get()))
00047 {
00048 }
00049 
00050 KoulesStatePropagator::~KoulesStatePropagator()
00051 {
00052     delete simulator_;
00053 }
00054 
00055 void KoulesStatePropagator::propagate(const ob::State *start, const oc::Control* control,
00056     const double duration, ob::State *result) const
00057 {
00058     simulator_->step(start, control, duration, result);
00059 }
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