[ompl-users] Edge checking in control based planners

[Peter M. <mit...@gm...>]

Hi Mark & others, I'm wondering if there is a hook for implementing
continuous edge checking in the control based planners. Specifically, I
want to validate a (x, u, x') tuple. A motion validator only validates (x,
x') and state validity is of course just (x). At the moment, I am
implementing this by setting the state to be infinity inside my
propagate function, and using a state validity checker to check that
result. I feel a much cleaner method would be to make propagate return bool
instead of void, and then propagateWhileValid would check that in addition
to a stateValidity checker. Is there a better way to do it?

Thank you,
-Peter Mitrano