doc/markdown/code/svc.cpp
00001 // define this class:
00002 class myStateValidityCheckerClass : public base::StateValidityChecker
00003 {
00004 public:
00005      myStateValidityCheckerClass(const base::SpaceInformationPtr &si) :
00006        base::StateValidityChecker(si)
00007         {
00008      }
00009 
00010      virtual bool isValid(const base::State *state) const
00011      {
00012              return ...;
00013      }
00014 };
00015 // or this function:
00016 bool myStateValidityCheckerFunction(const base::State *state)
00017 {
00018      return ...;
00019 }
00020 
00021 base::SpaceInformationPtr si(space);
00022 // either this call:
00023 si->setStateValidityChecker(base::StateValidityCheckerPtr(new myStateValidityCheckerClass(si)));
00024 // or this call:
00025 si->setStateValidityChecker(boost::bind(&myStateValidityCheckerFunction, _1));
00026 si->setStateValidityCheckingResolution(0.03); // 3%
00027 si->setup();
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