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();
}