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();