DiscreteMotionValidator.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_DISCRETE_MOTION_VALIDATOR_
38 #define OMPL_BASE_DISCRETE_MOTION_VALIDATOR_
39 
40 #include "ompl/base/MotionValidator.h"
41 #include "ompl/base/SpaceInformation.h"
42 
43 namespace ompl
44 {
45  namespace base
46  {
49  class DiscreteMotionValidator : public MotionValidator
50  {
51  public:
53  DiscreteMotionValidator(SpaceInformation *si) : MotionValidator(si)
54  {
55  defaultSettings();
56  }
57 
60  {
61  defaultSettings();
62  }
63 
64  ~DiscreteMotionValidator() override = default;
65 
66  bool checkMotion(const State *s1, const State *s2) const override;
67 
68  bool checkMotion(const State *s1, const State *s2, std::pair<State *, double> &lastValid) const override;
69 
70  private:
71  StateSpace *stateSpace_;
72 
73  void defaultSettings();
74  };
75  }
76 }
77 
78 #endif
A shared pointer wrapper for ompl::base::SpaceInformation.
bool checkMotion(const State *s1, const State *s2) const override
Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid.
MotionValidator(SpaceInformation *si)
Constructor.
DiscreteMotionValidator(SpaceInformation *si)
Constructor.
Main namespace. Contains everything in this library.