37 #ifndef OMPL_BASE_SPACES_REEDS_SHEPP_STATE_SPACE_
38 #define OMPL_BASE_SPACES_REEDS_SHEPP_STATE_SPACE_
40 #include "ompl/base/spaces/SE2StateSpace.h"
41 #include "ompl/base/MotionValidator.h"
42 #include <boost/math/constants/constants.hpp>
77 double t=std::numeric_limits<double>::max(),
double u=0.,
double v=0.,
78 double w=0.,
double x=0.);
99 bool& firstTime, ReedsSheppPath& path,
State *state)
const;
103 double zero = std::numeric_limits<double>::epsilon();
112 virtual void interpolate(
const State *from,
const ReedsSheppPath& path,
const double t,
140 virtual bool checkMotion(
const State *s1,
const State *s2, std::pair<State*, double> &lastValid)
const;
143 void defaultSettings(
void);