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GoalState.h
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34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_BASE_GOALS_GOAL_STATE_
38#define OMPL_BASE_GOALS_GOAL_STATE_
39
40#include "ompl/base/goals/GoalSampleableRegion.h"
41#include "ompl/base/ScopedState.h"
42
43namespace ompl
44{
45 namespace base
46 {
49 {
50 public:
53 {
55 }
56
57 ~GoalState() override;
58
60 void sampleGoal(State *st) const override;
61
63 unsigned int maxSampleCount() const override;
64
66 virtual double distanceGoal(const State *st) const override;
67
70 void print(std::ostream &out = std::cout) const override;
71
73 void setState(const State *st);
74
76 void setState(const ScopedState<> &st);
77
79 const State *getState() const;
80
82 State *getState();
83
84 protected:
87 };
88 }
89}
90
91#endif
Abstract definition of a goal region that can be sampled.
Definition of a goal state.
Definition GoalState.h:49
unsigned int maxSampleCount() const override
Return the maximum number of samples that can be asked for before repeating.
Definition GoalState.cpp:62
GoalState(const SpaceInformationPtr &si)
Create a goal representation that is in fact a state
Definition GoalState.h:52
void setState(const State *st)
Set the goal state.
Definition GoalState.cpp:67
const State * getState() const
Get the goal state.
Definition GoalState.cpp:79
void sampleGoal(State *st) const override
Sample a state in the goal region.
Definition GoalState.cpp:57
virtual double distanceGoal(const State *st) const override
Compute the distance to the goal (heuristic)
Definition GoalState.cpp:46
void print(std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.
Definition GoalState.cpp:51
State * state_
The goal state.
Definition GoalState.h:86
GoalType type_
Goal type.
Definition Goal.h:146
Definition of a scoped state.
Definition ScopedState.h:57
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition State.h:50
@ GOAL_STATE
This bit is set if casting to goal state (ompl::base::GoalState) is possible.
Definition GoalTypes.h:59
Main namespace. Contains everything in this library.