GoalRegion.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/goals/GoalRegion.h"
38 #include "ompl/base/SpaceInformation.h"
39 #include <limits>
40 
42  : Goal(si), threshold_(std::numeric_limits<double>::epsilon())
43 {
45 }
46 
48 {
49  return isSatisfied(st, nullptr);
50 }
51 
52 bool ompl::base::GoalRegion::isSatisfied(const State *st, double *distance) const
53 {
54  double d2g = distanceGoal(st);
55  if (distance != nullptr)
56  *distance = d2g;
57  return d2g < threshold_;
58 }
59 
60 void ompl::base::GoalRegion::print(std::ostream &out) const
61 {
62  out << "Goal region, threshold = " << threshold_ << ", memory address = " << this << std::endl;
63 }
bool isSatisfied(const State *st) const override
Equivalent to calling isSatisfied(const State *, double *) with a nullptr second argument.
Definition: GoalRegion.cpp:47
Abstract definition of goals.
Definition: Goal.h:62
This bit is set if casting to goal regions (ompl::base::GoalRegion) is possible.
Definition: GoalTypes.h:52
virtual double distanceGoal(const State *st) const =0
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
STL namespace.
GoalType type_
Goal type.
Definition: Goal.h:146
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:49
GoalRegion(const SpaceInformationPtr &si)
Create a goal region.
Definition: GoalRegion.cpp:41
void print(std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.
Definition: GoalRegion.cpp:60
double threshold_
The maximum distance that is allowed to the goal. By default, this is initialized to the minimum epsi...
Definition: GoalRegion.h:91