37 #ifndef OMPL_BASE_SPACES_DUBINS_STATE_SPACE_
38 #define OMPL_BASE_SPACES_DUBINS_STATE_SPACE_
40 #include "ompl/base/spaces/SE2StateSpace.h"
41 #include "ompl/base/MotionValidator.h"
42 #include <boost/math/constants/constants.hpp>
78 double t=0.,
double p=std::numeric_limits<double>::max(),
double q=0.)
117 bool& firstTime, DubinsPath& path,
State *state)
const;
121 double zero = std::numeric_limits<double>::epsilon();
122 double eps = std::numeric_limits<float>::epsilon();
133 virtual void interpolate(
const State *from,
const DubinsPath& path,
const double t,
170 virtual bool checkMotion(
const State *s1,
const State *s2, std::pair<State*, double> &lastValid)
const;
173 void defaultSettings(
void);