class myStateValidityCheckerClass : public base::StateValidityChecker
{
public:
myStateValidityCheckerClass(const base::SpaceInformationPtr &si) :
base::StateValidityChecker(si)
{
}
virtual bool isValid(const base::State *state) const
{
return ...;
}
};
bool myStateValidityCheckerFunction(const base::State *state)
{
return ...;
}
base::SpaceInformationPtr si(space);
Once the class is instantiated and parameters have been set, the