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DiscreteMotionValidator.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_DISCRETE_MOTION_VALIDATOR_
00038 #define OMPL_BASE_DISCRETE_MOTION_VALIDATOR_
00039 
00040 #include "ompl/base/MotionValidator.h"
00041 #include "ompl/base/SpaceInformation.h"
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace base
00047     {
00048 
00050         class DiscreteMotionValidator : public MotionValidator
00051         {
00052         public:
00053 
00055             DiscreteMotionValidator(SpaceInformation* si) : MotionValidator(si)
00056             {
00057                 defaultSettings();
00058             }
00059 
00061             DiscreteMotionValidator(const SpaceInformationPtr &si) : MotionValidator(si)
00062             {
00063                 defaultSettings();
00064             }
00065 
00066             virtual ~DiscreteMotionValidator(void)
00067             {
00068             }
00069 
00070             virtual bool checkMotion(const State *s1, const State *s2) const;
00071 
00072             virtual bool checkMotion(const State *s1, const State *s2, std::pair<State*, double> &lastValid) const;
00073 
00074         private:
00075 
00076             StateSpace *stateSpace_;
00077 
00078             void defaultSettings(void);
00079 
00080         };
00081 
00082     }
00083 }
00084 
00085 #endif