ompl::control::StatePropagator Class Reference

#include <StatePropagator.h>

Inheritance diagram for ompl::control::StatePropagator:

[legend]

List of all members.

Public Member Functions
virtual bool	canPropagateBackward (void) 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).
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 also be negative, if canPropagateBackward() returns true).
	StatePropagator (const SpaceInformationPtr &si)
	Constructor.
	StatePropagator (SpaceInformation *si)
	Constructor.
virtual	~StatePropagator (void)
Protected Attributes
SpaceInformation *	si_
	The instance of space information this state validity checker operates on.

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Detailed Description

Definition at line 57 of file StatePropagator.h.

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Constructor & Destructor Documentation

ompl::control::StatePropagator::StatePropagator

(

SpaceInformation *

si

)

[inline]

Constructor.

Definition at line 62 of file StatePropagator.h.

ompl::control::StatePropagator::StatePropagator

(

const SpaceInformationPtr &

si

)

[inline]

Constructor.

Definition at line 67 of file StatePropagator.h.

virtual ompl::control::StatePropagator::~StatePropagator

(

void

)

[inline, virtual]

Definition at line 71 of file StatePropagator.h.

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Member Function Documentation

virtual bool ompl::control::StatePropagator::canPropagateBackward

(

void

)

const [inline, virtual]

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).

Reimplemented in ompl::control::ODEStatePropagator.

Definition at line 96 of file StatePropagator.h.

virtual void ompl::control::StatePropagator::propagate	(	const base::State *	state,
		const Control *	control,
		const double	duration,
		base::State *	result
	)			const [pure virtual]

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).

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

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.

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

Implemented in ompl::control::ODEStatePropagator.

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Member Data Documentation

SpaceInformation* ompl::control::StatePropagator::si_ [protected]

The instance of space information this state validity checker operates on.

Definition at line 104 of file StatePropagator.h.

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The documentation for this class was generated from the following file:

• StatePropagator.h