Goal.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_GOAL_
38 #define OMPL_BASE_GOAL_
39 
40 #include "ompl/base/State.h"
41 #include "ompl/base/SpaceInformation.h"
42 #include "ompl/util/ClassForward.h"
43 #include "ompl/base/GoalTypes.h"
44 #include "ompl/util/Console.h"
45 #include <iostream>
46 #include <boost/concept_check.hpp>
47 #include <vector>
48 
49 namespace ompl
50 {
51  namespace base
52  {
54 
55  OMPL_CLASS_FORWARD(Goal);
57 
62  class Goal
63  {
64  public:
65  // non-copyable
66  Goal(const Goal &) = delete;
67  Goal &operator=(const Goal &) = delete;
68 
71 
73  virtual ~Goal() = default;
74 
76  template <class T>
77  T *as()
78  {
80  BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Goal *>));
81 
82  return static_cast<T *>(this);
83  }
84 
86  template <class T>
87  const T *as() const
88  {
90  BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Goal *>));
91 
92  return static_cast<const T *>(this);
93  }
94 
96  GoalType getType() const
97  {
98  return type_;
99  }
100 
102  bool hasType(GoalType type) const
103  {
104  return (type_ & type) == type;
105  }
106 
109  {
110  return si_;
111  }
112 
115  virtual bool isSatisfied(const State *st) const = 0;
116 
128  virtual bool isSatisfied(const State *st, double *distance) const;
129 
136  virtual bool isStartGoalPairValid(const State * /* start */, const State * /* goal */) const
137  {
138  return true;
139  }
140 
142  virtual void print(std::ostream &out = std::cout) const;
143 
144  protected:
147 
150  };
151  }
152 }
153 
154 #endif
virtual bool isStartGoalPairValid(const State *, const State *) const
Since there can be multiple starting states (and multiple goal states) it is possible certain pairs a...
Definition: Goal.h:136
Abstract definition of goals.
Definition: Goal.h:62
virtual ~Goal()=default
Destructor.
virtual void print(std::ostream &out=std::cout) const
Print information about the goal.
Definition: Goal.cpp:52
const SpaceInformationPtr & getSpaceInformation() const
Get the space information this goal is for.
Definition: Goal.h:108
bool hasType(GoalType type) const
Check if this goal can be cast to a particular goal type.
Definition: Goal.h:102
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
GoalType type_
Goal type.
Definition: Goal.h:146
A shared pointer wrapper for ompl::base::SpaceInformation.
T * as()
Cast this instance to a desired type.
Definition: Goal.h:77
Definition of an abstract state.
Definition: State.h:49
virtual bool isSatisfied(const State *st) const =0
Return true if the state satisfies the goal constraints.
SpaceInformationPtr si_
The space information for this goal.
Definition: Goal.h:149
GoalType getType() const
Return the goal type.
Definition: Goal.h:96
GoalType
The type of goal.
Definition: GoalTypes.h:45
const T * as() const
Cast this instance to a desired type.
Definition: Goal.h:87