2class myStateValidityCheckerClass :
public base::StateValidityChecker
5 myStateValidityCheckerClass(
const base::SpaceInformationPtr &si) :
6 base::StateValidityChecker(si)
10 virtual bool isValid(
const base::State *state)
const
16bool myStateValidityCheckerFunction(
const base::State *state)
21base::SpaceInformationPtr si(space);
23si->setStateValidityChecker(std::make_shared<myStateValidityCheckerClass>(si));
25si->setStateValidityChecker(myStateValidityCheckerFunction);
26si->setStateValidityCheckingResolution(0.03);