37 #ifndef OMPL_EXTENSION_OPENDE_STATE_PROPAGATOR_
38 #define OMPL_EXTENSION_OPENDE_STATE_PROPAGATOR_
40 #include "ompl/control/SpaceInformation.h"
41 #include "ompl/extensions/opende/OpenDEEnvironment.h"
Definition of an abstract control.
Model the effect of controls on system states.
virtual void propagate(const base::State *state, const Control *control, const double duration, base::State *result) const
Propagate from a state, given a control, for some specified amount of time (the amount of time can al...
const OpenDEEnvironmentPtr & getEnvironment(void) const
Get the OpenDE environment this state propagator operates on.
Definition of an abstract state.
OpenDEStatePropagator(const SpaceInformationPtr &si)
Construct a representation of OpenDE state propagator. If si->getStateSpace() does not cast to an Ope...
State propagation with OpenDE. Only forward propagation is possible.
virtual bool canPropagateBackward(void) const
Some systems can only propagate forward in time (i.e., the duration argument for the propagate() func...
OpenDEEnvironmentPtr env_
The OpenDE environment this state propagator operates on.
A boost shared pointer wrapper for ompl::control::OpenDEEnvironment.