GoalStates.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_GOALS_GOAL_STATES_
38 #define OMPL_BASE_GOALS_GOAL_STATES_
39 
40 #include "ompl/base/goals/GoalSampleableRegion.h"
41 #include "ompl/base/ScopedState.h"
42 #include <vector>
43 
44 namespace ompl
45 {
46  namespace base
47  {
50  {
51  public:
53  GoalStates(const SpaceInformationPtr &si) : GoalSampleableRegion(si), samplePosition_(0)
54  {
56  }
57 
58  ~GoalStates() override;
59 
60  void sampleGoal(State *st) const override;
61 
62  unsigned int maxSampleCount() const override;
63 
64  double distanceGoal(const State *st) const override;
65 
66  void print(std::ostream &out = std::cout) const override;
67 
69  virtual void addState(const State *st);
70 
72  void addState(const ScopedState<> &st);
73 
75  virtual void clear();
76 
78  virtual bool hasStates() const;
79 
81  virtual const State *getState(unsigned int index) const;
82 
84  virtual std::size_t getStateCount() const;
85 
86  protected:
88  std::vector<State *> states_;
89 
90  private:
92  mutable unsigned int samplePosition_;
93 
95  void freeMemory();
96  };
97  }
98 }
99 
100 #endif
Definition of a scoped state.
Definition: ScopedState.h:56
virtual void clear()
Clear all goal states.
Definition: GoalStates.cpp:47
This bit is set if casting to goal states (ompl::base::GoalStates) is possible.
Definition: GoalTypes.h:62
Definition of a set of goal states.
Definition: GoalStates.h:49
std::vector< State * > states_
The goal states. Only ones that are valid are considered by the motion planner.
Definition: GoalStates.h:88
virtual void addState(const State *st)
Add a goal state.
Definition: GoalStates.cpp:99
virtual const State * getState(unsigned int index) const
Return a pointer to the indexth state in the state list.
Definition: GoalStates.cpp:109
Abstract definition of a goal region that can be sampled.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
unsigned int maxSampleCount() const override
Return the maximum number of samples that can be asked for before repeating.
Definition: GoalStates.cpp:94
void sampleGoal(State *st) const override
Sample a state in the goal region.
Definition: GoalStates.cpp:81
GoalType type_
Goal type.
Definition: Goal.h:146
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:49
void print(std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.
Definition: GoalStates.cpp:71
virtual bool hasStates() const
Check if there are any states in this goal region.
Definition: GoalStates.cpp:122
double distanceGoal(const State *st) const override
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
Definition: GoalStates.cpp:59
virtual std::size_t getStateCount() const
Return the number of valid goal states.
Definition: GoalStates.cpp:117
GoalStates(const SpaceInformationPtr &si)
Create a goal representation that is in fact a set of states.
Definition: GoalStates.h:53