void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj)
 {
     checkSetup();
     if (!proj)
     {
         msg_.inform("Attempting to use default projection.");
         proj = si_->getStateSpace()->getDefaultProjection();
     }
     if (!proj)
         throw Exception(msg_.getPrefix(), "No projection evaluator specified");
     proj->setup();
 }
 void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj, const std::string &context)
 {
     base::SpaceInformationPtr si = wsi_.lock();
     checkSetup(si);
     if (!proj && si)
     {
         OMPL_INFORM("%sAttempting to use default projection.", context.c_str());
         proj = si->getStateSpace()->getDefaultProjection();
     }
     if (!proj)
         throw Exception("No projection evaluator specified");
     proj->setup();
 }