ompl_ros_joint_state_validity_checker.h

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#ifndef OMPL_ROS_JOINT_STATE_VALIDITY_CHECKER_
#define OMPL_ROS_JOINT_STATE_VALIDITY_CHECKER_

#include <ompl_ros_interface/ompl_ros_state_validity_checker.h>

namespace ompl_ros_interface
{
class OmplRosJointStateValidityChecker : public ompl_ros_interface::OmplRosStateValidityChecker
{
public:
  OmplRosJointStateValidityChecker(ompl::base::SpaceInformation *si, 
                                   planning_environment::CollisionModelsInterface* cmi,
                                   const ompl_ros_interface::OmplStateToKinematicStateMapping &mapping) : 
    ompl_ros_interface::OmplRosStateValidityChecker(si,cmi), 
    ompl_state_to_kinematic_state_mapping_(mapping)
  {
  }
  ~OmplRosJointStateValidityChecker(){}
        
  virtual bool  isValid  (const ompl::base::State *ompl_state) const;   

  virtual bool isStateValid(const ompl::base::State *ompl_state);
        
protected:      
  ompl_ros_interface::OmplStateToKinematicStateMapping ompl_state_to_kinematic_state_mapping_;    

  //a cached pose that will be multiplied to every input pose
  //necessary since the input may be in a frame that's not the one that the kinematics solver is working in
  geometry_msgs::Pose cached_transform_pose_;
};
}
#endif