DiscreteMotionValidator.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_BASE_DISCRETE_MOTION_VALIDATOR_
#define OMPL_BASE_DISCRETE_MOTION_VALIDATOR_
 
#include "ompl/base/MotionValidator.h"
#include "ompl/base/SpaceInformation.h"
 
namespace ompl
{
    namespace base
    {
        class DiscreteMotionValidator : public MotionValidator
        {
        public:
            DiscreteMotionValidator(SpaceInformation *si) : MotionValidator(si)
            {
                defaultSettings();
            }
 
            DiscreteMotionValidator(const SpaceInformationPtr &si) : MotionValidator(si)
            {
                defaultSettings();
            }
 
            ~DiscreteMotionValidator() override = default;
 
            bool checkMotion(const State *s1, const State *s2) const override;
 
            bool checkMotion(const State *s1, const State *s2, std::pair<State *, double> &lastValid) const override;
 
        private:
            StateSpace *stateSpace_;
 
            void defaultSettings();
        };
    }
}
 
#endif