GoalState.h
A shared pointer wrapper for ompl::base::SpaceInformation.
@ GOAL_STATE
This bit is set if casting to goal state (ompl::base::GoalState) is possible.
Definition: GoalTypes.h:59
void print(std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.
Definition: GoalState.cpp:51
void sampleGoal(State *st) const override
Sample a state in the goal region.
Definition: GoalState.cpp:57
GoalState(const SpaceInformationPtr &si)
Create a goal representation that is in fact a state
Definition: GoalState.h:52
double distanceGoal(const State *st) const override
Compute the distance to the goal (heuristic)
Definition: GoalState.cpp:46
unsigned int maxSampleCount() const override
Return the maximum number of samples that can be asked for before repeating.
Definition: GoalState.cpp:62
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:48