37 #ifndef OMPL_EXTENSION_MORSE_STATE_PROPAGATOR_
38 #define OMPL_EXTENSION_MORSE_STATE_PROPAGATOR_
40 #include "ompl/control/SpaceInformation.h"
41 #include "ompl/extensions/morse/MorseEnvironment.h"
State propagation with MORSE. Only forward propagation is possible.
MorseStatePropagator(const SpaceInformationPtr &si)
Construct representation of a MORSE state propagator. If si->getStateSpace() does not cast to a Morse...
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, under a given control, for some specified amount of time. ...
const base::MorseEnvironmentPtr & getEnvironment(void) const
Get the MORSE environment this state propagator operates on.
Definition of an abstract state.
virtual bool canPropagateBackward(void) const
Will always return false, as the simulation can only proceed forward in time.
base::MorseEnvironmentPtr env_
The MORSE environment this state propagator operates on.
A boost shared pointer wrapper for ompl::base::MorseEnvironment.