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
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.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
virtual unsigned int maxSampleCount() const =0
Return the maximum number of samples that can be asked for before repeating.
GoalType type_
Goal type.
Definition: Goal.h:146
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.
Definition of an abstract state.
Definition: State.h:49
Definition of a goal region.
Definition: GoalRegion.h:47
This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible...
Definition: GoalTypes.h:56