TypedStateValidityChecker.h
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34 
35 /* Author: Neil T. Dantam */
36 
37 #ifndef OMPL_BASE_TYPED_STATE_VALIDITY_CHECKER_
38 #define OMPL_BASE_TYPED_STATE_VALIDITY_CHECKER_
39 
40 #include "ompl/base/SpaceInformation.h"
41 #include "ompl/base/StateValidityChecker.h"
42 #include "ompl/base/TypedSpaceInformation.h"
43 
44 namespace ompl
45 {
46  namespace base
47  {
48  template <typename SpaceType_>
50  {
51  public:
52  using SpaceType = SpaceType_;
54 
56  {
57  }
58 
60  {
61  }
62 
63  SpaceInformationType *getTypedSpaceInformation() const
64  {
65  return static_cast<SpaceInformationType *>(si_);
66  }
67 
68  SpaceType *getTypedStateSpace() const
69  {
70  return getTypedSpaceInformation()->getTypedStateSpace();
71  }
72 
73  static typename SpaceType::StateType *state_as(State *s)
74  {
75  return SpaceInformationType::state_as(s);
76  }
77 
78  static const typename SpaceType::StateType *state_as(const State *s)
79  {
80  return SpaceInformationType::state_as(s);
81  }
82  };
83  }
84 }
85 #endif
const SpaceType * getTypedStateSpace() const
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Abstract definition for a class checking the validity of states. The implementation of this class mus...
StateValidityChecker(SpaceInformation *si)
Constructor.
Definition of an abstract state.
Definition: State.h:49
SpaceInformation * si_
The instance of space information this state validity checker operates on.
std::shared_ptr< TypedSpaceInformation< SpaceType > > Ptr