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<div class="header">
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pro-attribs">Protected Attributes</a>  </div>
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<div class="title">ompl::control::StatePropagator Class Reference</div>  </div>
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<!-- doxytag: class="ompl::control::StatePropagator" --><div class="dynheader">
Inheritance diagram for ompl::control::StatePropagator:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1control_1_1StatePropagator__inherit__graph.png" border="0" usemap="#ompl_1_1control_1_1StatePropagator_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1control_1_1StatePropagator_inherit__map" id="ompl_1_1control_1_1StatePropagator_inherit__map">
<area shape="rect" id="node3" href="classompl_1_1control_1_1ODEStatePropagator.html" title="State propagation with ODE. Only forward propagation is possible." alt="" coords="5,83,232,112"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>

<p><a href="classompl_1_1control_1_1StatePropagator-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a53dff01b0f6a8fe74591f79eecb5a1b0"></a><!-- doxytag: member="ompl::control::StatePropagator::StatePropagator" ref="a53dff01b0f6a8fe74591f79eecb5a1b0" args="(SpaceInformation *si)" -->
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1StatePropagator.html#a53dff01b0f6a8fe74591f79eecb5a1b0">StatePropagator</a> (<a class="el" href="classompl_1_1control_1_1SpaceInformation.html">SpaceInformation</a> *si)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a983b7f976166c2369c76c2332f585eb9"></a><!-- doxytag: member="ompl::control::StatePropagator::StatePropagator" ref="a983b7f976166c2369c76c2332f585eb9" args="(const SpaceInformationPtr &amp;si)" -->
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1StatePropagator.html#a983b7f976166c2369c76c2332f585eb9">StatePropagator</a> (const <a class="el" href="classompl_1_1control_1_1SpaceInformationPtr.html">SpaceInformationPtr</a> &amp;si)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1StatePropagator.html#a5f3bedb55a1980d3d2c06ae0a39d8246">propagate</a> (const <a class="el" href="classompl_1_1base_1_1State.html">base::State</a> *state, const <a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *control, const double duration, <a class="el" href="classompl_1_1base_1_1State.html">base::State</a> *result) const =0</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Propagate from a state, given a control, for some specified amount of time (the amount of time can also be negative, if <a class="el" href="classompl_1_1control_1_1StatePropagator.html#a8c41891a0d07e7a064c7cd2d8c049efe" title="Some systems can only propagate forward in time (i.e., the duration argument for the propagate() func...">canPropagateBackward()</a> returns true)  <a href="#a5f3bedb55a1980d3d2c06ae0a39d8246"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8c41891a0d07e7a064c7cd2d8c049efe"></a><!-- doxytag: member="ompl::control::StatePropagator::canPropagateBackward" ref="a8c41891a0d07e7a064c7cd2d8c049efe" args="(void) const " -->
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1StatePropagator.html#a8c41891a0d07e7a064c7cd2d8c049efe">canPropagateBackward</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Some systems can only propagate forward in time (i.e., the <em>duration</em> argument for the <a class="el" href="classompl_1_1control_1_1StatePropagator.html#a5f3bedb55a1980d3d2c06ae0a39d8246" title="Propagate from a state, given a control, for some specified amount of time (the amount of time can al...">propagate()</a> 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). <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4458a51bcf9ee437fc6bb2d23cca40d1"></a><!-- doxytag: member="ompl::control::StatePropagator::si_" ref="a4458a51bcf9ee437fc6bb2d23cca40d1" args="" -->
<a class="el" href="classompl_1_1control_1_1SpaceInformation.html">SpaceInformation</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1StatePropagator.html#a4458a51bcf9ee437fc6bb2d23cca40d1">si_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The instance of space information this state validity checker operates on. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock">
<p>Definition at line <a class="el" href="StatePropagator_8h_source.html#l00057">57</a> of file <a class="el" href="StatePropagator_8h_source.html">StatePropagator.h</a>.</p>
</div><hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a5f3bedb55a1980d3d2c06ae0a39d8246"></a><!-- doxytag: member="ompl::control::StatePropagator::propagate" ref="a5f3bedb55a1980d3d2c06ae0a39d8246" args="(const base::State *state, const Control *control, const double duration, base::State *result) const =0" -->
<div class="memitem">
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      <table class="memname">
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          <td class="memname">virtual void ompl::control::StatePropagator::propagate </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classompl_1_1base_1_1State.html">base::State</a> *&#160;</td>
          <td class="paramname"><em>state</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *&#160;</td>
          <td class="paramname"><em>control</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>duration</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classompl_1_1base_1_1State.html">base::State</a> *&#160;</td>
          <td class="paramname"><em>result</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const<code> [pure virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Propagate from a state, given a control, for some specified amount of time (the amount of time can also be negative, if <a class="el" href="classompl_1_1control_1_1StatePropagator.html#a8c41891a0d07e7a064c7cd2d8c049efe" title="Some systems can only propagate forward in time (i.e., the duration argument for the propagate() func...">canPropagateBackward()</a> returns true) </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">state</td><td>the state to start propagating from </td></tr>
    <tr><td class="paramname">control</td><td>the control to apply </td></tr>
    <tr><td class="paramname">duration</td><td>the duration for which the control is applied </td></tr>
    <tr><td class="paramname">result</td><td>the state the system is brought to</td></tr>
  </table>
  </dd>
</dl>
<dl class="note"><dt><b>Note:</b></dt><dd>This function is <b>not used for integration</b> internally. If integrating a system of differential equations is needed, this should be implemented inside the <a class="el" href="classompl_1_1control_1_1StatePropagator.html#a5f3bedb55a1980d3d2c06ae0a39d8246" title="Propagate from a state, given a control, for some specified amount of time (the amount of time can al...">propagate()</a> function.</dd>
<dd>
The pointer to the starting state and the result state may be the same. </dd></dl>

<p>Implemented in <a class="el" href="classompl_1_1control_1_1ODEStatePropagator.html#a1bc9b3fab2758857581c8e04059f3acc">ompl::control::ODEStatePropagator</a>.</p>

</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li>src/ompl/control/<a class="el" href="StatePropagator_8h_source.html">StatePropagator.h</a></li>
</ul>
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