44 namespace ompl
58 ~GoalStates() override;
62 unsigned int maxSampleCount() const override;
66 void print(std::ostream &out = std::cout) const override;
75 virtual void clear();
78 virtual bool hasStates() const;
84 virtual std::size_t getStateCount() const;
virtual void clear()
Clear all goal states.
This bit is set if casting to goal states (ompl::base::GoalStates) is possible.
std::vector< State * > states_
The goal states. Only ones that are valid are considered by the motion planner.
virtual void addState(const State *st)
Add a goal state.
virtual const State * getState(unsigned int index) const
Return a pointer to the indexth state in the state list.
Abstract definition of a goal region that can be sampled.
unsigned int maxSampleCount() const override
Return the maximum number of samples that can be asked for before repeating.
void sampleGoal(State *st) const override
Sample a state in the goal region.
A shared pointer wrapper for ompl::base::SpaceInformation.
void print(std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.
virtual bool hasStates() const
Check if there are any states in this goal region.
double distanceGoal(const State *st) const override
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
virtual std::size_t getStateCount() const
Return the number of valid goal states.