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StatePropagator.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_STATE_PROPAGATOR_
38 #define OMPL_CONTROL_STATE_PROPAGATOR_
39 
40 #include "ompl/control/Control.h"
41 #include "ompl/util/ClassForward.h"
42 
43 namespace ompl
44 {
45 
46  namespace control
47  {
48 
50  OMPL_CLASS_FORWARD(SpaceInformation);
52 
54 
55  OMPL_CLASS_FORWARD(StatePropagator);
57 
63  {
64  public:
65 
68  {
69  }
70 
72  StatePropagator(const SpaceInformationPtr &si) : si_(si.get())
73  {
74  }
75 
76  virtual ~StatePropagator(void)
77  {
78  }
79 
95  virtual void propagate(const base::State *state, const Control* control, const double duration, base::State *result) const = 0;
96 
101  virtual bool canPropagateBackward(void) const
102  {
103  return true;
104  }
105 
112  bool steer(const base::State *from, const base::State *to, Control *result, double &duration) const
113  {
114  return false;
115  }
116 
117  protected:
118 
121 
122  };
123 
124  }
125 }
126 
127 #endif