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  /* Author: Ioan Sucan */
  
  #ifndef OMPL_EXTENSION_OPENDE_STATE_PROPAGATOR_
  #define OMPL_EXTENSION_OPENDE_STATE_PROPAGATOR_
  
  #include "ompl/control/SpaceInformation.h"
  #include "ompl/extensions/ode/OpenDEEnvironment.h"
  
  namespace ompl
  {
      namespace control
      {
          /** \brief State propagation with OpenDE. Only forward
              propagation is possible.
  
              At every propagation step, controls are applied using
              OpenDEEnvironment::applyControl(), contacts are computed by
              calling \b dSpaceCollide() on the spaces in
              OpenDEEnvironment::collisionSpaces_ and then \b
              dWorldQuickStep() is called. If the \e state argument of
              propagate() does not have its
              OpenDEStateSpace::StateType::collision field set, it is
              set based on the information returned by contact
              computation. Certain collisions (contacts) are allowed, as
              indicated by OpenDEEnvironment::isValidCollision(). */
          class OpenDEStatePropagator : public StatePropagator
          {
          public:
              /** \brief Construct a representation of OpenDE state propagator.
                  If \e si->getStateSpace() does not cast to an
                  OpenDEStateSpace, an exception is thrown. */
              OpenDEStatePropagator(const SpaceInformationPtr &si);
  
              ~OpenDEStatePropagator() override = default;
  
              /** \brief Get the OpenDE environment this state propagator operates on */
              const OpenDEEnvironmentPtr &getEnvironment() const
              {
                  return env_;
              }
  
              bool canPropagateBackward() const override;
  
              void propagate(const base::State *state, const Control *control, double duration,
                             base::State *result) const override;
  
          protected:
              /** \brief The OpenDE environment this state propagator operates on */
              OpenDEEnvironmentPtr env_;
          };
      }
  }
  
  #endif
  