ompl::control::MorseStatePropagator Class Reference

State propagation with MORSE. Only forward propagation is possible. More...

Inheritance diagram for ompl::control::MorseStatePropagator:

Public Member Functions
	MorseStatePropagator (const SpaceInformationPtr &si)
	Construct representation of a MORSE state propagator. If si->getStateSpace() does not cast to a MorseStateSpace, an exception is thrown.
const base::MorseEnvironmentPtr &	getEnvironment () const
	Get the MORSE environment this state propagator operates on.
virtual bool	canPropagateBackward () const
	Will always return false, as the simulation can only proceed forward in time.
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.
Protected Attributes
base::MorseEnvironmentPtr	env_
	The MORSE environment this state propagator operates on.

Detailed Description

State propagation with MORSE. Only forward propagation is possible.

At every propagation step, controls are applied using MorseEnvironment::applyControl(), and then worldStep() is called.

Definition at line 55 of file MorseStatePropagator.h.

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