svc.cpp

// define this class:
class myStateValidityCheckerClass : public base::StateValidityChecker
{
public:
    myStateValidityCheckerClass(const base::SpaceInformationPtr &si) : base::StateValidityChecker(si)
    {
    }
 
    virtual bool isValid(const base::State *state) const
    {
        return ...;
    }
};
// or this function:
bool myStateValidityCheckerFunction(const base::State *state)
{
    return ...;
}
 
base::SpaceInformationPtr si(space);
// either this call:
si->setStateValidityChecker(std::make_shared<myStateValidityCheckerClass>(si));
// or this call:
si->setStateValidityChecker(myStateValidityCheckerFunction);
si->setStateValidityCheckingResolution(0.03);  // 3%
si->setup();