KoulesStatePropagator.cpp

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/* Author: Beck Chen, Mark Moll */

#include <ompl/control/SpaceInformation.h>
#include "KoulesConfig.h"
#include "KoulesSimulator.h"
#include "KoulesStatePropagator.h"

namespace ob = ompl::base;
namespace oc = ompl::control;

KoulesStatePropagator::KoulesStatePropagator(const ompl::control::SpaceInformationPtr &si) :
    ompl::control::StatePropagator(si), simulator_(new KoulesSimulator(si.get()))
{
}

KoulesStatePropagator::~KoulesStatePropagator()
{
    delete simulator_;
}

void KoulesStatePropagator::propagate(const ob::State *start, const oc::Control* control,
    const double duration, ob::State *result) const
{
    simulator_->step(start, control, duration, result);
}