MorseStateValidityChecker.cpp
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34 
35 /* Author: Ioan Sucan, Caleb Voss */
36 
37 #include "ompl/extensions/morse/MorseStateValidityChecker.h"
38 #include "ompl/util/Exception.h"
39 
42 {
43  if (!dynamic_cast<MorseStateSpace *>(si->getStateSpace().get()))
44  throw Exception("Cannot create state validity checking for MORSE without MORSE state space");
45  mss_ = si->getStateSpace()->as<MorseStateSpace>();
46 }
47 
49 {
50  // a state is valid as long as it satisfies its bounds
52 }
MORSE State. This is a compound state that allows accessing the properties of the bodies the state sp...
State space representing MORSE states.
MorseStateSpace * mss_
The corresponding MORSE state space.
bool satisfiesBounds(const State *state) const
This function checks whether a state satisfies its bounds.
virtual bool isValid(const State *state) const
A state is always considered valid if it satisfies the bounds.
const T * as() const
Cast this instance to a desired type.
Definition: State.h:66
MorseStateValidityChecker(const SpaceInformationPtr &si)
Constructor.
Abstract definition for a class checking the validity of states. The implementation of this class mus...
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:49
The exception type for ompl.
Definition: Exception.h:46