v3.9.0

planner.validator(constraint_tsrs=...) returns the validator a
CBiRRT.plan() call applies, so a consumer can validate another motion under
the plan's own rules using only public API (#236).

Added

• CBiRRT.validator(constraint_tsrs=None, *, backend=None): the validator plan(..., constraint_tsrs=...) applies.
  • It lowers the constraint exactly as plan does, with the same space, checker, policy and backend selection.
  • Its reports equal result.validation and result.trajectory.validation, on either backend (#236).
  • It lets personalrobotics/ssrobot#132 validate a runtime command under the plan's own rules with public API only.

Changed

• ValidationReport.backend is recorded but no longer part of equality. Two reports for the same subject under the
  same policy compare equal whichever implementation answered.