DiscreteMotionValidator.cpp
48 bool ompl::base::DiscreteMotionValidator::checkMotion(const State *s1, const State *s2, std::pair<State*, double> &lastValid) const
const StateSpacePtr & getStateSpace() const
Return the instance of the used state space.
Definition: SpaceInformation.h:104
bool isValid(const State *state) const
Check if a given state is valid or not.
Definition: SpaceInformation.h:98
virtual unsigned int validSegmentCount(const State *state1, const State *state2) const
Count how many segments of the "longest valid length" fit on the motion from state1 to state2...
Definition: StateSpace.cpp:834
SpaceInformation * si_
The instance of space information this state validity checker operates on.
Definition: MotionValidator.h:125
virtual void interpolate(const State *from, const State *to, const double t, State *state) const =0
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...
virtual bool checkMotion(const State *s1, const State *s2) const
Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid...
Definition: DiscreteMotionValidator.cpp:92