MotionValidator.hpp

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#ifndef AIKIDO_PLANNER_OMPL_MOTIONVALIDATOR_HPP_
#define AIKIDO_PLANNER_OMPL_MOTIONVALIDATOR_HPP_
 
#include <ompl/base/MotionValidator.h>
 
namespace aikido {
namespace planner {
namespace ompl {
 
class MotionValidator : public ::ompl::base::MotionValidator
{
public:
  MotionValidator(
      const ::ompl::base::SpaceInformationPtr& _si,
      double _maxDistBtwValidityChecks);
 
  bool checkMotion(
      const ::ompl::base::State* _s1,
      const ::ompl::base::State* _s2) const override;
 
  // Check if the path between two states is valid. Also compute the last state
  // that was valid and the time of that state.  The time is used to
  // parameterize the motion from _s1 to _s2, _s1 being at t=0 and _s2 being at
  // t=1. The function assumes _s1 is valid.
  bool checkMotion(
      const ::ompl::base::State* _s1,
      const ::ompl::base::State* _s2,
      std::pair<::ompl::base::State*, double>& _lastValid) const override;
 
private:
  double mSequenceResolution;
};
 
} // namespace ompl
} // namespace planner
} // namespace aikido
 
#endif