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MotionValidator.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/MotionValidator.h"
38 #include "ompl/base/SpaceInformation.h"
39 
40 void ompl::base::MotionValidator::computeMotionCost(const State *s1, const State *s2, double &cost, std::pair<double, double> &bounds) const
41 {
42  bounds.first = si_->getStateValidityChecker()->cost(s1);
43  bounds.second = si_->getStateValidityChecker()->cost(s2);
44  if (bounds.first > bounds.second)
45  std::swap(bounds.first, bounds.second);
46  cost = si_->distance(s1, s2) * (bounds.first + bounds.second) / 2.0;
47 }