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StatePropagator.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_CONTROL_STATE_PROPAGATOR_
00038 #define OMPL_CONTROL_STATE_PROPAGATOR_
00039 
00040 #include "ompl/control/Control.h"
00041 #include "ompl/util/ClassForward.h"
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace control
00047     {
00048 
00050         ClassForward(SpaceInformation);
00052 
00054 
00055         ClassForward(StatePropagator);
00057 
00062         class StatePropagator
00063         {
00064         public:
00065 
00067             StatePropagator(SpaceInformation* si) : si_(si)
00068             {
00069             }
00070 
00072             StatePropagator(const SpaceInformationPtr &si) : si_(si.get())
00073             {
00074             }
00075 
00076             virtual ~StatePropagator(void)
00077             {
00078             }
00079 
00095             virtual void propagate(const base::State *state, const Control* control, const double duration, base::State *result) const = 0;
00096 
00101             virtual bool canPropagateBackward(void) const
00102             {
00103                 return true;
00104             }
00105 
00112             bool steer(const base::State *from, const base::State *to, Control *result, double &duration) const
00113             {
00114                 return false;
00115             }
00116 
00117         protected:
00118 
00120             SpaceInformation *si_;
00121 
00122         };
00123 
00124     }
00125 }
00126 
00127 #endif