00001
00002 class myStateValidityCheckerClass : public base::StateValidityChecker
00003 {
00004 public:
00005 myStateValidityCheckerClass(const base::SpaceInformationPtr &si) :
00006 base::StateValidityChecker(si)
00007 {
00008 }
00009
00010 virtual bool isValid(const base::State *state) const
00011 {
00012 return ...;
00013 }
00014 };
00015
00016 bool myStateValidityCheckerFunction(const base::State *state)
00017 {
00018 return ...;
00019 }
00020
00021 base::SpaceInformationPtr si(space);
00022
00023 si->setStateValidityChecker(base::StateValidityCheckerPtr(new myStateValidityCheckerClass(si)));
00024
00025 si->setStateValidityChecker(boost::bind(&myStateValidityCheckerFunction, _1));
00026 si->setStateValidityCheckingResolution(0.03);
00027 si->setup();