GoalSpace.h
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34 
35 /* Author: Jonathan Gammell */
36 
37 #ifndef OMPL_BASE_GOALS_GOAL_SPACE_
38 #define OMPL_BASE_GOALS_GOAL_SPACE_
39 
40 #include "ompl/base/goals/GoalSampleableRegion.h"
41 #include "ompl/base/StateSpace.h"
42 
43 namespace ompl
44 {
45  namespace base
46  {
48  class GoalSpace : public GoalSampleableRegion
49  {
50  public:
53  {
55  }
56 
57  ~GoalSpace() override;
58 
60  void sampleGoal(State *st) const override;
61 
63  unsigned int maxSampleCount() const override;
64 
66  double distanceGoal(const State *st) const override;
67 
70  void print(std::ostream &out = std::cout) const override;
71 
73  void setSpace(const StateSpacePtr space);
74 
76  StateSpacePtr getSpace() const;
77 
78  protected:
81 
84  };
85  }
86 }
87 
88 #endif
GoalType type_
Goal type.
Definition: Goal.h:210
A shared pointer wrapper for ompl::base::SpaceInformation.
GoalSampleableRegion(const SpaceInformationPtr &si)
Create a goal region that can be sampled.
StateSpacePtr getSpace() const
Get the goal space.
Definition: GoalSpace.cpp:96
StateSpacePtr goalSpace_
The goal volume as defined by a state space.
Definition: GoalSpace.h:176
void sampleGoal(State *st) const override
Sample a state in the goal region.
Definition: GoalSpace.cpp:44
StateSamplerPtr goalSampler_
The goal space sampler.
Definition: GoalSpace.h:179
@ GOAL_SAMPLEABLE_REGION
This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible.
Definition: GoalTypes.h:152
unsigned int maxSampleCount() const override
Return the maximum number of samples that can be asked for before repeating.
Definition: GoalSpace.cpp:49
A shared pointer wrapper for ompl::base::StateSpace.
void print(std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.
Definition: GoalSpace.cpp:80
A shared pointer wrapper for ompl::base::StateSampler.
void setSpace(const StateSpacePtr space)
Set the goal space.
Definition: GoalSpace.cpp:85
GoalSpace(const SpaceInformationPtr &si)
Create a goal representation that is a space.
Definition: GoalSpace.h:148
Main namespace. Contains everything in this library.
Definition: AppBase.h:22
double distanceGoal(const State *st) const override
Compute the distance to the goal (heuristic)
Definition: GoalSpace.cpp:54