Class StatePropagator

Class Documentation

class StatePropagator

Model the effect of controls on system states.

Public Functions

inline StatePropagator(SpaceInformation *si)

Constructor.

inline StatePropagator(const SpaceInformationPtr &si)

Constructor.

virtual ~StatePropagator() = default
virtual void propagate(const base::State *state, const Control *control, 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 also be negative, if canPropagateBackward() returns true)

Note

This function is not used for integration internally. If integrating a system of differential equations is needed, this should be implemented inside the propagate() function.

Note

The pointer to the starting state and the result state may be the same.

Parameters:

  • state – the state to start propagating from

  • control – the control to apply

  • duration – the duration for which the control is applied

  • result – the state the system is brought to

inline virtual bool canPropagateBackward() const

Some systems can only propagate forward in time (i.e., the duration argument for the propagate() function is always positive). If this is the case, this function should return false. Planners that need backward propagation (negative durations) will call this function to check. If backward propagation is possible, this function should return true (this is the default).

inline virtual double steer(const base::State*, const base::State*, Control*) const

Compute the control that can take the system from state from to state to. Store that control in result; the duration for which the control should be applied is returned; return < 0.0 if the computation was successful; return the control duration otherwise;.

Note

If a negative value is returned, the content of result may have been changed, but it does not represent a solution;

inline virtual bool canSteer() const

Return true if the steer() function has been implemented.

Protected Attributes

SpaceInformation *si_

The instance of space information this state propagator operates on.