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MorseStatePropagator.cpp
42ompl::control::MorseStatePropagator::MorseStatePropagator(const SpaceInformationPtr &si) : StatePropagator(si)
44 if (base::MorseStateSpace *mss = dynamic_cast<base::MorseStateSpace *>(si->getStateSpace().get()))
50void ompl::control::MorseStatePropagator::propagate(const base::State *state, const Control *control,
A shared pointer wrapper for ompl::base::SpaceInformation.
MorseStatePropagator(const SpaceInformationPtr &si)
Construct representation of a MORSE state propagator. If si->getStateSpace() does not cast to a Morse...
Definition MorseStatePropagator.cpp:42
base::MorseEnvironmentPtr env_
The MORSE environment this state propagator operates on.
Definition MorseStatePropagator.h:80
bool canPropagateBackward() const override
Will always return false, as the simulation can only proceed forward in time.
Definition MorseStatePropagator.cpp:74
void propagate(const base::State *state, const Control *control, double duration, base::State *result) const override
Propagate from a state, under a given control, for some specified amount of time.
Definition MorseStatePropagator.cpp:50
The definition of a control in Rn
Definition RealVectorControlSpace.h:66
SpaceInformation * si_
The instance of space information this state propagator operates on.
Definition StatePropagator.h:126
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition Control.h:45