OpenDEStateValidityChecker.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_EXTENSION_OPENDE_STATE_VALIDITY_CHECKER_
38 #define OMPL_EXTENSION_OPENDE_STATE_VALIDITY_CHECKER_
39 
40 #include "ompl/extensions/ode/OpenDEStateSpace.h"
41 #include "ompl/control/SpaceInformation.h"
42 
43 namespace ompl
44 {
45  namespace control
46  {
48  class OpenDEStateValidityChecker : public base::StateValidityChecker
49  {
50  public:
53 
55  bool isValid(const base::State *state) const override;
56 
57  protected:
59  OpenDEStateSpace *osm_;
60  };
61  }
62 }
63 #endif
A shared pointer wrapper for ompl::base::SpaceInformation.
bool isValid(const base::State *state) const override
A state is considered valid if it is within bounds and not in collision.
OpenDEStateSpace * osm_
The corresponding OpenDE state space.
OpenDEStateValidityChecker(const SpaceInformationPtr &si)
Constructor.
Main namespace. Contains everything in this library.