42 namespace ompl
56 ~GoalSampleableRegion() override = default;
62 virtual unsigned int maxSampleCount() const = 0;
67 return maxSampleCount() > 0;
77 return canSample();
virtual bool couldSample() const
Return true if samples could be generated by this sampler at some point in the future. By default this is equivalent to canSample(), but for GoalLazySamples, this call also reflects the fact that a sampling thread is active and although no samples are produced yet, some may become available at some point in the future.
GoalSampleableRegion(const SpaceInformationPtr &si)
Create a goal region that can be sampled.
virtual void sampleGoal(State *st) const =0
Sample a state in the goal region.
Abstract definition of a goal region that can be sampled.
virtual unsigned int maxSampleCount() const =0
Return the maximum number of samples that can be asked for before repeating.
bool canSample() const
Return true if maxSampleCount() > 0, since in this case samples can certainly be produced.
A shared pointer wrapper for ompl::base::SpaceInformation.