GoalRegion.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_GOALS_GOAL_REGION_
38 #define OMPL_BASE_GOALS_GOAL_REGION_
39 
40 #include "ompl/base/Goal.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
47  class GoalRegion : public Goal
48  {
49  public:
52 
53  ~GoalRegion() override = default;
54 
56  bool isSatisfied(const State *st) const override;
57 
61  bool isSatisfied(const State *st, double *distance) const override;
62 
67  virtual double distanceGoal(const State *st) const = 0;
68 
71  void print(std::ostream &out = std::cout) const override;
72 
75  void setThreshold(double threshold)
76  {
77  threshold_ = threshold;
78  }
79 
82  double getThreshold() const
83  {
84  return threshold_;
85  }
86 
87  protected:
91  double threshold_;
92  };
93  }
94 }
95 
96 #endif
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
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...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:49
double getThreshold() const
Get the distance to the goal that is allowed for a state to be considered in the goal region...
Definition: GoalRegion.h:82
void setThreshold(double threshold)
Set the distance to the goal that is allowed for a state to be considered in the goal region...
Definition: GoalRegion.h:75
Definition of a goal region.
Definition: GoalRegion.h:47
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