MorseStateValidityChecker.h

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/* Authors: Ioan Sucan, Caleb Voss */
 
#ifndef OMPL_EXTENSION_MORSE_STATE_VALIDITY_CHECKER_
#define OMPL_EXTENSION_MORSE_STATE_VALIDITY_CHECKER_
 
#include "ompl/control/SpaceInformation.h"
#include "ompl/extensions/morse/MorseStateSpace.h"
 
namespace ompl
{
    namespace base
    {
        class MorseStateValidityChecker : public StateValidityChecker
        {
        public:
            MorseStateValidityChecker(const SpaceInformationPtr &si);
 
            bool isValid(const State *state) const override;
 
        protected:
            MorseStateSpace *mss_;
        };
    }
}
#endif