GoalSampleableRegion.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_GOALS_GOAL_SAMPLEABLE_REGION_
38 #define OMPL_BASE_GOALS_GOAL_SAMPLEABLE_REGION_
39 
40 #include "ompl/base/goals/GoalRegion.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
48  {
49  public:
52  {
54  }
55 
56  ~GoalSampleableRegion() override = default;
57 
59  virtual void sampleGoal(State *st) const = 0;
60 
62  virtual unsigned int maxSampleCount() const = 0;
63 
65  bool canSample() const
66  {
67  return maxSampleCount() > 0;
68  }
69 
75  virtual bool couldSample() const
76  {
77  return canSample();
78  }
79  };
80  }
81 }
82 
83 #endif
Definition of a goal region.
Definition: GoalRegion.h:48
GoalType type_
Goal type.
Definition: Goal.h:146
virtual unsigned int maxSampleCount() const =0
Return the maximum number of samples that can be asked for before repeating.
A shared pointer wrapper for ompl::base::SpaceInformation.
GoalSampleableRegion(const SpaceInformationPtr &si)
Create a goal region that can be sampled.
Definition of an abstract state.
Definition: State.h:50
virtual bool couldSample() const
Return true if samples could be generated by this sampler at some point in the future....
bool canSample() const
Return true if maxSampleCount() > 0, since in this case samples can certainly be produced.
@ GOAL_SAMPLEABLE_REGION
This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible.
Definition: GoalTypes.h:56
virtual void sampleGoal(State *st) const =0
Sample a state in the goal region.
Abstract definition of a goal region that can be sampled.
Main namespace. Contains everything in this library.
Definition: AppBase.h:22