37 #include <ompl/control/SpaceInformation.h>
38 #include "KoulesConfig.h"
39 #include "KoulesSimulator.h"
40 #include "KoulesStatePropagator.h"
42 namespace ob = ompl::base;
43 namespace oc = ompl::control;
46 ompl::control::StatePropagator(si), simulator_(new
KoulesSimulator(si.get()))
50 KoulesStatePropagator::~KoulesStatePropagator()
56 const double duration,
ob::State *result)
const
58 simulator_->step(start, control, duration, result);
Definition of an abstract control.
Definition of an abstract state.
virtual void propagate(const ompl::base::State *start, const ompl::control::Control *control, const double duration, ompl::base::State *result) const
Propagate from a state, given a control, for some specified amount of time (the amount of time can al...