EnvironmentStateValidityChecker.h

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// STL
#include <memory>
 
// MPB
#include "base/Environment.h"
 
// Other
#include <ompl/base/StateValidityChecker.h>
 
namespace ob = ompl::base;
 
class EnvironmentStateValidityChecker : public ob::StateValidityChecker {
 public:
  EnvironmentStateValidityChecker(ob::SpaceInformation *si, Environment *env)
      : ob::StateValidityChecker(si), env_(env) {}
 
  EnvironmentStateValidityChecker(const ob::SpaceInformationPtr &si,
                                  const std::shared_ptr<Environment> &env)
      : ob::StateValidityChecker(si.get()), env_(env) {}
 
  virtual ~EnvironmentStateValidityChecker() = default;
 
  virtual bool isValid(const ob::State *state) const override;
 
  virtual double clearance(const ob::State *state) const override;
 
 protected:
  std::shared_ptr<Environment> env_;
};