00001 // define this class: 00002 class myMotionValidator : public base::MotionValidator 00003 { 00004 public: 00005 // implement checkMotion() 00006 }; 00007 00008 base::SpaceInformationPtr si(space); 00009 si->setMotionValidator(base::MotionValidatorPtr(new myMotionValidator(si))); 00010 si->setup();