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KoulesStatePropagator.h
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34
35/* Author: Beck Chen, Mark Moll */
36
37#ifndef DEMOS_KOULES_STATEPROPAGATOR_
38#define DEMOS_KOULES_STATEPROPAGATOR_
39
40#include <ompl/control/StatePropagator.h>
41
42class KoulesSimulator;
43
44// State propagator for KoulesSetup.
46{
47public:
50
51 virtual void propagate(const ompl::base::State *start, const ompl::control::Control* control,
52 const double duration, ompl::base::State *result) const;
53
54protected:
55 // The simulator_ is mutable. This is normally a very BAD idea, since
56 // planners can be multi-threaded. However, none of the planners used
57 // here are multi-threaded, so it's safe.
58 mutable KoulesSimulator* simulator_;
59};
60
61#endif
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...
Definition of an abstract state.
Definition State.h:50
Definition of an abstract control.
Definition Control.h:48
A shared pointer wrapper for ompl::control::SpaceInformation.
Model the effect of controls on system states.