DiscreteMotionValidator.h
68 bool checkMotion(const State *s1, const State *s2, std::pair<State *, double> &lastValid) const override;
DiscreteMotionValidator(const SpaceInformationPtr &si)
Constructor.
Definition: DiscreteMotionValidator.h:59
A motion validator that only uses the state validity checker. Motions are checked for validity at a s...
Definition: DiscreteMotionValidator.h:49
Abstract definition for a class checking the validity of motions – path segments between states...
Definition: MotionValidator.h:64
A shared pointer wrapper for ompl::base::SpaceInformation.
The base class for space information. This contains all the information about the space planning is d...
Definition: SpaceInformation.h:81
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:70
bool checkMotion(const State *s1, const State *s2) const override
Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid...
Definition: DiscreteMotionValidator.cpp:93