ConfigFixer.h

#ifndef CONFIG_FIXER_H
#define CONFIG_FIXER_H

#include <KrisLibrary/planning/CSpace.h>

class ConfigFixer
{
 public:
  ConfigFixer();
  bool Fix(CSpace* space,const Config& q0,Config& q);

  int maxIters;
  Real d0,dmax;  //radii to sample from: initial, maximum
  Real dRate;    //stop if rate of shrinking towards q decreases past this rate
};

#endif