37 #include "ompl/extensions/morse/MorseStateValidityChecker.h"
38 #include "ompl/util/Exception.h"
42 if (!dynamic_cast<MorseStateSpace*>(si->getStateSpace().get()))
43 throw Exception(
"Cannot create state validity checking for MORSE without MORSE state space");
MORSE State. This is a compound state that allows accessing the properties of the bodies the state sp...
State space representing MORSE states.
MorseStateSpace * mss_
The corresponding MORSE state space.
const T * as(void) const
Cast this instance to a desired type.
MorseStateValidityChecker(const SpaceInformationPtr &si)
Constructor.
Abstract definition for a class checking the validity of states. The implementation of this class mus...
Definition of an abstract state.
The exception type for ompl.
virtual bool isValid(const State *state) const
A state is always considered valid if it satisfies the bounds.