37 #ifndef OMPL_BASE_MOTION_VALIDATOR_
38 #define OMPL_BASE_MOTION_VALIDATOR_
40 #include "ompl/base/State.h"
41 #include "ompl/util/ClassForward.h"
50 OMPL_CLASS_FORWARD(SpaceInformation);
55 OMPL_CLASS_FORWARD(MotionValidator);
86 virtual bool checkMotion(
const State *s1,
const State *s2)
const = 0;
96 virtual bool checkMotion(
const State *s1,
const State *s2, std::pair<State*, double> &lastValid)
const = 0;
111 virtual void computeMotionCost(
const State *s1,
const State *s2,
double &cost, std::pair<double, double> &bounds)
const;