TypedStateValidityChecker.h

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/* Author: Neil T. Dantam */

#ifndef OMPL_BASE_TYPED_STATE_VALIDITY_CHECKER_
#define OMPL_BASE_TYPED_STATE_VALIDITY_CHECKER_

#include "ompl/base/SpaceInformation.h"
#include "ompl/base/StateValidityChecker.h"
#include "ompl/base/TypedSpaceInformation.h"

namespace ompl
{
    namespace base
    {

        template <typename SpaceType_>
        class TypedStateValidityChecker : public StateValidityChecker
        {
        public:

            typedef SpaceType_ SpaceType;
            typedef TypedSpaceInformation<SpaceType> SpaceInformationType;

            TypedStateValidityChecker(SpaceInformationType *si) : StateValidityChecker(si)
            {
            }

            TypedStateValidityChecker(const typename SpaceInformationType::Ptr &si) : StateValidityChecker(si)
            {
            }

            SpaceInformationType* getTypedSpaceInformation() const
            {
                return static_cast<SpaceInformationType*>(si_);
            }

            SpaceType* getTypedStateSpace() const
            {
                return getTypedSpaceInformation()->getTypedStateSpace();
            }

            static typename SpaceType::StateType* state_as(State *s)
            {
                return SpaceInformationType::state_as(s);
            }

            static const typename SpaceType::StateType* state_as(const State *s)
            {
                return SpaceInformationType::state_as(s);
            }
        };

    }

}
#endif