ompl/control/StatePropagator.h
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2011, Rice University
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Rice University nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_CONTROL_STATE_PROPAGATOR_
00038 #define OMPL_CONTROL_STATE_PROPAGATOR_
00039 
00040 #include "ompl/control/Control.h"
00041 #include "ompl/util/ClassForward.h"
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace control
00047     {
00048 
00050         OMPL_CLASS_FORWARD(SpaceInformation);
00052 
00054 
00055         OMPL_CLASS_FORWARD(StatePropagator);
00057 
00062         class StatePropagator
00063         {
00064         public:
00065 
00067             StatePropagator(SpaceInformation *si) : si_(si)
00068             {
00069             }
00070 
00072             StatePropagator(const SpaceInformationPtr &si) : si_(si.get())
00073             {
00074             }
00075 
00076             virtual ~StatePropagator()
00077             {
00078             }
00079 
00095             virtual void propagate(const base::State *state, const Control *control, const double duration, base::State *result) const = 0;
00096 
00101             virtual bool canPropagateBackward() const
00102             {
00103                 return true;
00104             }
00105 
00112             virtual bool steer(const base::State* /*from*/, const base::State* /*to*/, Control* /*result*/, double& /*duration*/) const
00113             {
00114                 return false;
00115             }
00116 
00118             virtual bool canSteer() const
00119             {
00120                 return false;
00121             }
00122 
00123         protected:
00124 
00126             SpaceInformation *si_;
00127 
00128         };
00129 
00130     }
00131 }
00132 
00133 #endif
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines