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:

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::MorseEnvironmentPtr & | getEnvironment () 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.
The documentation for this class was generated from the following files:
- ompl/extensions/morse/MorseStatePropagator.h
- ompl/extensions/morse/src/MorseStatePropagator.cpp