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MorseStatePropagator.cpp
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34 
35 /* Author: Caleb Voss */
36 
37 #include "ompl/extensions/morse/MorseStatePropagator.h"
38 #include "ompl/control/spaces/RealVectorControlSpace.h"
39 #include "ompl/extensions/morse/MorseStateSpace.h"
40 #include "ompl/util/Exception.h"
41 
43 {
44  if (base::MorseStateSpace *mss = dynamic_cast<base::MorseStateSpace*>(si->getStateSpace().get()))
45  env_ = mss->getEnvironment();
46  else
47  throw Exception("MORSE State Space needed for MorseStatePropagator");
48 }
49 
50 void ompl::control::MorseStatePropagator::propagate(const base::State *state, const Control* control, const double duration, base::State *result) const
51 {
52  boost::mutex::scoped_lock lock(env_->mutex_);
53 
54  // place the MORSE world at the start state
55  si_->getStateSpace()->as<base::MorseStateSpace>()->writeState(state);
56 
57  // convert control into vector of doubles
58  std::vector<double> controlVec;
59  const double *conVals = control->as<RealVectorControlSpace::ControlType>()->values;
60  for (unsigned int i = 0; i < env_->controlDim_; i++)
61  controlVec.push_back(conVals[i]);
62 
63  // apply the controls
64  env_->applyControl(controlVec);
65 
66  // propagate one step forward
67  env_->worldStep(duration);
68 
69  // read the final state from the MORSE world
70  si_->getStateSpace()->as<base::MorseStateSpace>()->readState(result);
71 }
72 
74 {
75  return false;
76 }
MorseStatePropagator(const SpaceInformationPtr &si)
Construct representation of a MORSE state propagator. If si->getStateSpace() does not cast to a Morse...
State space representing MORSE states.
Definition of an abstract control.
Definition: Control.h:48
Model the effect of controls on system states.
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. ...
Definition of an abstract state.
Definition: State.h:50
A boost shared pointer wrapper for ompl::control::SpaceInformation.
The exception type for ompl.
Definition: Exception.h:47
virtual bool canPropagateBackward(void) const
Will always return false, as the simulation can only proceed forward in time.
const T * as(void) const
Cast this instance to a desired type.
Definition: Control.h:72
base::MorseEnvironmentPtr env_
The MORSE environment this state propagator operates on.