DiscreteMotionValidator.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_DISCRETE_MOTION_VALIDATOR_
#define OMPL_BASE_DISCRETE_MOTION_VALIDATOR_

#include "ompl/base/MotionValidator.h"
#include "ompl/base/SpaceInformation.h"

namespace ompl
{
    namespace base
    {
        class DiscreteMotionValidator : public MotionValidator
        {
        public:
            DiscreteMotionValidator(SpaceInformation *si) : MotionValidator(si)
            {
                defaultSettings();
            }

            DiscreteMotionValidator(const SpaceInformationPtr &si) : MotionValidator(si)
            {
                defaultSettings();
            }

            ~DiscreteMotionValidator() override = default;

            bool checkMotion(const State *s1, const State *s2) const override;

            bool checkMotion(const State *s1, const State *s2, std::pair<State *, double> &lastValid) const override;

        private:
            StateSpace *stateSpace_;

            void defaultSettings();
        };
    }
}

#endif