dart.hpp

Go to the documentation of this file.

#ifndef AIKIDO_PLANNER_OMPL_DART_HPP_
#define AIKIDO_PLANNER_OMPL_DART_HPP_
 
#include <ompl/base/SpaceInformation.h>
 
#include "aikido/constraint/Testable.hpp"
#include "aikido/statespace/dart/MetaSkeletonStateSpace.hpp"
 
namespace aikido {
namespace planner {
namespace ompl {
 
::ompl::base::SpaceInformationPtr createSpaceInformation(
    statespace::dart::MetaSkeletonStateSpacePtr _stateSpace,
    constraint::TestablePtr _validityConstraint,
    double _maxDistanceBtwValidityChecks,
    std::unique_ptr<common::RNG> _rng);
 
} // namespace ompl
} // namespace planner
} // namespace aikido
 
#endif