Goal.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_GOAL_
#define OMPL_BASE_GOAL_

#include "ompl/base/State.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/util/ClassForward.h"
#include "ompl/base/GoalTypes.h"
#include "ompl/util/Console.h"
#include <iostream>
#include <boost/concept_check.hpp>
#include <vector>

namespace ompl
{
    namespace base
    {

        OMPL_CLASS_FORWARD(Goal);

        class Goal
        {
        public:
            // non-copyable
            Goal(const Goal &) = delete;
            Goal &operator=(const Goal &) = delete;

            Goal(SpaceInformationPtr si);

            virtual ~Goal() = default;

            template <class T>
            T *as()
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Goal *>));

                return static_cast<T *>(this);
            }

            template <class T>
            const T *as() const
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Goal *>));

                return static_cast<const T *>(this);
            }

            GoalType getType() const
            {
                return type_;
            }

            bool hasType(GoalType type) const
            {
                return (type_ & type) == type;
            }

            const SpaceInformationPtr &getSpaceInformation() const
            {
                return si_;
            }

            virtual bool isSatisfied(const State *st) const = 0;

            virtual bool isSatisfied(const State *st, double *distance) const;

            virtual bool isStartGoalPairValid(const State * /* start */, const State * /* goal */) const
            {
                return true;
            }

            virtual void print(std::ostream &out = std::cout) const;

        protected:
            GoalType type_;

            SpaceInformationPtr si_;
        };
    }
}

#endif