43 namespace ompl
57 ~GoalState() override;
63 unsigned int maxSampleCount() const override;
70 void print(std::ostream &out = std::cout) const override;
A shared pointer wrapper for ompl::base::SpaceInformation.
This bit is set if casting to goal state (ompl::base::GoalState) is possible.
void print(std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.
void sampleGoal(State *st) const override
Sample a state in the goal region.
GoalState(const SpaceInformationPtr &si)
Create a goal representation that is in fact a state
const State * getState() const
Get the goal state.
double distanceGoal(const State *st) const override
Compute the distance to the goal (heuristic)
unsigned int maxSampleCount() const override
Return the maximum number of samples that can be asked for before repeating.
Abstract definition of a goal region that can be sampled.
void setState(const State *st)
Set the goal state.