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| KoulesStatePropagator (const ompl::control::SpaceInformationPtr &si) |
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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 also be negative, if canPropagateBackward() returns true) More...
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| StatePropagator (SpaceInformation *si) |
| Constructor.
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| StatePropagator (const SpaceInformationPtr &si) |
| Constructor.
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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).
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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 result; the duration for which the control should be applied is stored in duration; return true if the computation was successful; return false otherwise;. More...
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Definition at line 45 of file KoulesStatePropagator.h.
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
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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.
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The pointer to the starting state and the result state may be the same.
Implements ompl::control::StatePropagator.
Definition at line 55 of file KoulesStatePropagator.cpp.
The documentation for this class was generated from the following files: