OpenDEStateValidityChecker.h

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/* Author: Ioan Sucan */

#ifndef OMPL_EXTENSION_OPENDE_STATE_VALIDITY_CHECKER_
#define OMPL_EXTENSION_OPENDE_STATE_VALIDITY_CHECKER_

#include "ompl/extensions/opende/OpenDEStateSpace.h"
#include "ompl/control/SpaceInformation.h"

namespace ompl
{
    namespace control
    {
        class OpenDEStateValidityChecker : public base::StateValidityChecker
        {
        public:
            OpenDEStateValidityChecker(const SpaceInformationPtr &si);

            bool isValid(const base::State *state) const override;

        protected:
            OpenDEStateSpace *osm_;
        };
    }
}
#endif