42 namespace ompl
53 ~GoalRegion() override = default;
71 void print(std::ostream &out = std::cout) const override;
77 threshold_ = threshold;
84 return threshold_;
A shared pointer wrapper for ompl::base::SpaceInformation.
void print(std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.
GoalRegion(const SpaceInformationPtr &si)
Create a goal region.
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...
The maximum distance that is allowed to the goal. By default, this is initialized to the minimum epsi...
bool isSatisfied(const State *st) const override
Equivalent to calling isSatisfied(const State *, double *) with a nullptr second argument.
double getThreshold() const
Get the distance to the goal that is allowed for a state to be considered in the goal region.