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DiscreteMotionValidator.h
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34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_BASE_DISCRETE_MOTION_VALIDATOR_
38#define OMPL_BASE_DISCRETE_MOTION_VALIDATOR_
39
40#include "ompl/base/MotionValidator.h"
41#include "ompl/base/SpaceInformation.h"
42
43namespace ompl
44{
45 namespace base
46 {
50 {
51 public:
54 {
55 defaultSettings();
56 }
57
60 {
61 defaultSettings();
62 }
63
64 ~DiscreteMotionValidator() override = default;
65
66 bool checkMotion(const State *s1, const State *s2) const override;
67
68 bool checkMotion(const State *s1, const State *s2, std::pair<State *, double> &lastValid) const override;
69
70 private:
71 StateSpace *stateSpace_;
72
73 void defaultSettings();
74 };
75 }
76}
77
78#endif
A motion validator that only uses the state validity checker. Motions are checked for validity at a s...
DiscreteMotionValidator(const SpaceInformationPtr &si)
Constructor.
DiscreteMotionValidator(SpaceInformation *si)
Constructor.
bool checkMotion(const State *s1, const State *s2) const override
Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid.
MotionValidator(SpaceInformation *si)
Constructor.
A shared pointer wrapper for ompl::base::SpaceInformation.
The base class for space information. This contains all the information about the space planning is d...
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition StateSpace.h:71
Definition of an abstract state.
Definition State.h:50
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Main namespace. Contains everything in this library.