GoalRegion.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2008, Willow Garage, Inc.
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Willow Garage nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
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
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.
Definition: GoalRegion.cpp:60
GoalRegion(const SpaceInformationPtr &si)
Create a goal region.
Definition: GoalRegion.cpp:41
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...
double threshold_
The maximum distance that is allowed to the goal. By default, this is initialized to the minimum epsi...
Definition: GoalRegion.h:187
bool isSatisfied(const State *st) const override
Equivalent to calling isSatisfied(const State *, double *) with a nullptr second argument.
Definition: GoalRegion.cpp:47
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:178
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
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:171