37 #ifndef OMPL_BASE_DISCRETE_MOTION_VALIDATOR_
38 #define OMPL_BASE_DISCRETE_MOTION_VALIDATOR_
40 #include "ompl/base/MotionValidator.h"
41 #include "ompl/base/SpaceInformation.h"
70 virtual bool checkMotion(
const State *s1,
const State *s2)
const;
72 virtual bool checkMotion(
const State *s1,
const State *s2, std::pair<State*, double> &lastValid)
const;
76 StateSpace *stateSpace_;
78 void defaultSettings(
void);
DiscreteMotionValidator(const SpaceInformationPtr &si)
Constructor.
virtual bool checkMotion(const State *s1, const State *s2) const
Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid...
A motion validator that only uses the state validity checker. Motions are checked for validity at a s...
Abstract definition for a class checking the validity of motions – path segments between states...
DiscreteMotionValidator(SpaceInformation *si)
Constructor.