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svc.cpp
00001    // define this class:
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    // or this function:
00016    bool myStateValidityCheckerFunction(const base::State *state)
00017    {
00018         return ...;
00019    }
00020 
00021    base::SpaceInformationPtr si(space);
00022    // either this call:
00023    si->setStateValidityChecker(base::StateValidityCheckerPtr(new myStateValidityCheckerClass(si)));
00024    // or this call:
00025    si->setStateValidityChecker(boost::bind(&myStateValidityCheckerFunction, _1));
00026    si->setStateValidityCheckingResolution(0.03); // 3%
00027    si->setup();