37 #ifndef OMPL_GEOMETRIC_IK_HCIK_
38 #define OMPL_GEOMETRIC_IK_HCIK_
40 #include "ompl/base/SpaceInformation.h"
41 #include "ompl/base/goals/GoalRegion.h"
81 maxImproveSteps_ = steps;
87 return maxImproveSteps_;
93 checkValidity_ = valid;
99 return checkValidity_;
106 return checkValidity_ ? si_->isValid(state) :
true;
110 unsigned int maxImproveSteps_;