Loading...
Searching...
No Matches
svc.cpp
1// define this class:
2class myStateValidityCheckerClass : public base::StateValidityChecker
3{
4public:
5 myStateValidityCheckerClass(const base::SpaceInformationPtr &si) :
6 base::StateValidityChecker(si)
7 {
8 }
9
10 virtual bool isValid(const base::State *state) const
11 {
12 return ...;
13 }
14};
15// or this function:
16bool myStateValidityCheckerFunction(const base::State *state)
17{
18 return ...;
19}
20
21base::SpaceInformationPtr si(space);
22// either this call:
23si->setStateValidityChecker(std::make_shared<myStateValidityCheckerClass>(si));
24// or this call:
25si->setStateValidityChecker(myStateValidityCheckerFunction);
26si->setStateValidityCheckingResolution(0.03); // 3%
27si->setup();