DiscreteMotionValidator.h

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, Rice University
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the Rice University nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
/* 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();
        };
    }  // namespace base
}  // namespace ompl
 
#endif