ompl/extensions/morse/MorseStateValidityChecker.h
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00034 
00035 /* Authors: Ioan Sucan, Caleb Voss */
00036 
00037 #ifndef OMPL_EXTENSION_MORSE_STATE_VALIDITY_CHECKER_
00038 #define OMPL_EXTENSION_MORSE_STATE_VALIDITY_CHECKER_
00039 
00040 #include "ompl/control/SpaceInformation.h"
00041 #include "ompl/extensions/morse/MorseStateSpace.h"
00042 
00043 namespace ompl
00044 {
00045     namespace base
00046     {
00047 
00050         class MorseStateValidityChecker : public StateValidityChecker
00051         {
00052         public:
00053 
00055             MorseStateValidityChecker(const SpaceInformationPtr &si);
00056 
00058             virtual bool isValid(const State *state) const;
00059 
00060         protected:
00061 
00063             MorseStateSpace *mss_;
00064         };
00065     }
00066 }
00067 #endif
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