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// define this class:
class myStateValidityCheckerClass : public base::StateValidityChecker
{
public:
myStateValidityCheckerClass(const base::SpaceInformationPtr &si) :
base::StateValidityChecker(si)
{
}
virtual bool isValid(const base::State *state) const
{
return ...;
}
};
// or this function:
bool myStateValidityCheckerFunction(const base::State *state)
{
return ...;
}
base::SpaceInformationPtr si(space);
// either this call:
si->setStateValidityChecker(std::make_shared<myStateValidityCheckerClass>(si));
// or this call:
si->setStateValidityChecker(myStateValidityCheckerFunction);
si->setStateValidityCheckingResolution(0.03); // 3%
si->setup();
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