StateValidityChecker.hpp

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#ifndef AIKIDO_OMPL_AIKIDOSTATEVALIDITYCHECKER_HPP_
#define AIKIDO_OMPL_AIKIDOSTATEVALIDITYCHECKER_HPP_
 
#include <ompl/base/SpaceInformation.h>
#include <ompl/base/StateValidityChecker.h>
 
#include "aikido/constraint/Testable.hpp"
#include "aikido/statespace/StateSpace.hpp"
 
namespace aikido {
namespace planner {
namespace ompl {
 
class StateValidityChecker : public ::ompl::base::StateValidityChecker
{
 
public:
  StateValidityChecker(
      const ::ompl::base::SpaceInformationPtr& _si,
      constraint::TestablePtr _constraint);
 
  bool isValid(const ::ompl::base::State* _state) const override;
 
private:
  constraint::TestablePtr mConstraint;
};
 
} // namespace ompl
} // namespace planner
} // namespace aikido
 
#endif