GoalState.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_GOALS_GOAL_STATE_
38 #define OMPL_BASE_GOALS_GOAL_STATE_
39 
40 #include "ompl/base/goals/GoalSampleableRegion.h"
41 #include "ompl/base/ScopedState.h"
42 
43 namespace ompl
44 {
45  namespace base
46  {
49  {
50  public:
53  {
54  type_ = GOAL_STATE;
55  }
56 
57  ~GoalState() 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 setState(const State *st);
74 
76  void setState(const ScopedState<> &st);
77 
79  const State *getState() const;
80 
82  State *getState();
83 
84  protected:
87  };
88  }
89 }
90 
91 #endif
Definition of a scoped state.
Definition: ScopedState.h:56
void sampleGoal(State *st) const override
Sample a state in the goal region.
Definition: GoalState.cpp:57
Definition of a goal state.
Definition: GoalState.h:48
unsigned int maxSampleCount() const override
Return the maximum number of samples that can be asked for before repeating.
Definition: GoalState.cpp:62
void print(std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.
Definition: GoalState.cpp:51
const State * getState() const
Get the goal state.
Definition: GoalState.cpp:79
Abstract definition of a goal region that can be sampled.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
void setState(const State *st)
Set the goal state.
Definition: GoalState.cpp:67
GoalType type_
Goal type.
Definition: Goal.h:146
State * state_
The goal state.
Definition: GoalState.h:86
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:49
This bit is set if casting to goal state (ompl::base::GoalState) is possible.
Definition: GoalTypes.h:59
double distanceGoal(const State *st) const override
Compute the distance to the goal (heuristic)
Definition: GoalState.cpp:46
GoalState(const SpaceInformationPtr &si)
Create a goal representation that is in fact a state.
Definition: GoalState.h:52