37 #ifndef OMPL_CONTROL_STATE_PROPAGATOR_
38 #define OMPL_CONTROL_STATE_PROPAGATOR_
40 #include "ompl/control/Control.h"
41 #include "ompl/util/ClassForward.h"
50 OMPL_CLASS_FORWARD(SpaceInformation);
55 OMPL_CLASS_FORWARD(StatePropagator);
SpaceInformation * si_
The instance of space information this state propagator operates on.
Definition of an abstract control.
virtual void propagate(const base::State *state, const Control *control, const double duration, base::State *result) const =0
Propagate from a state, given a control, for some specified amount of time (the amount of time can al...
virtual bool canPropagateBackward(void) const
Some systems can only propagate forward in time (i.e., the duration argument for the propagate() func...
Model the effect of controls on system states.
Definition of an abstract state.
StatePropagator(const SpaceInformationPtr &si)
Constructor.
bool steer(const base::State *, const base::State *, Control *, double &) const
Compute the control that can take the system from state from to state to. Store that control in resul...
StatePropagator(SpaceInformation *si)
Constructor.