MorseStateValidityChecker.cpp

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/* Author: Ioan Sucan, Caleb Voss */
 
#include "ompl/extensions/morse/MorseStateValidityChecker.h"
#include "ompl/util/Exception.h"
 
ompl::base::MorseStateValidityChecker::MorseStateValidityChecker(const SpaceInformationPtr &si)
  : StateValidityChecker(si)
{
    if (!dynamic_cast<MorseStateSpace *>(si->getStateSpace().get()))
        throw Exception("Cannot create state validity checking for MORSE without MORSE state space");
    mss_ = si->getStateSpace()->as<MorseStateSpace>();
}
 
bool ompl::base::MorseStateValidityChecker::isValid(const State *state) const
{
    // a state is valid as long as it satisfies its bounds
    return mss_->satisfiesBounds(state->as<MorseStateSpace::StateType>());
}