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OpenDEStateValidityChecker.h
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34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_EXTENSION_OPENDE_STATE_VALIDITY_CHECKER_
38#define OMPL_EXTENSION_OPENDE_STATE_VALIDITY_CHECKER_
39
40#include "ompl/extensions/ode/OpenDEStateSpace.h"
41#include "ompl/control/SpaceInformation.h"
42
43namespace ompl
44{
45 namespace control
46 {
49 {
50 public:
53
55 bool isValid(const base::State *state) const override;
56
57 protected:
60 };
61 }
62}
63#endif
A shared pointer wrapper for ompl::base::SpaceInformation.
Abstract definition for a class checking the validity of states. The implementation of this class mus...
Definition of an abstract state.
Definition State.h:50
State space representing OpenDE states.
The simplest state validity checker: all states are valid.
bool isValid(const base::State *state) const override
A state is considered valid if it is within bounds and not in collision.
OpenDEStateSpace * osm_
The corresponding OpenDE state space.
Main namespace. Contains everything in this library.