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MorseStateValidityChecker.cpp
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34
35/* Author: Ioan Sucan, Caleb Voss */
36
37#include "ompl/extensions/morse/MorseStateValidityChecker.h"
38#include "ompl/util/Exception.h"
39
42{
43 if (!dynamic_cast<MorseStateSpace *>(si->getStateSpace().get()))
44 throw Exception("Cannot create state validity checking for MORSE without MORSE state space");
45 mss_ = si->getStateSpace()->as<MorseStateSpace>();
46}
47
49{
50 // a state is valid as long as it satisfies its bounds
51 return mss_->satisfiesBounds(state->as<MorseStateSpace::StateType>());
52}
The exception type for ompl.
Definition: Exception.h:47
MORSE State. This is a compound state that allows accessing the properties of the bodies the state sp...
State space representing MORSE states.
bool isValid(const State *state) const override
A state is always considered valid if it satisfies the bounds.
MorseStateValidityChecker(const SpaceInformationPtr &si)
Constructor.
MorseStateSpace * mss_
The corresponding MORSE state space.
A shared pointer wrapper for ompl::base::SpaceInformation.
Abstract definition for a class checking the validity of states. The implementation of this class mus...
Definition of an abstract state.
Definition: State.h:50
const T * as() const
Cast this instance to a desired type.
Definition: State.h:66