47 : ompl::base::GoalSampleableRegion(si), stateSampler_(si->allocStateSampler())
49 threshold_ = 0.01;
63 mutable ompl::RNG rng_;
64 ompl::base::StateSamplerPtr stateSampler_;
A shared pointer wrapper for ompl::base::StateSampler.
virtual void sampleGoal(ompl::base::State *st) const
Sample a state in the goal region.
Abstract definition of a goal region that can be sampled.
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
A shared pointer wrapper for ompl::base::SpaceInformation.
virtual unsigned int maxSampleCount() const
Return the maximum number of samples that can be asked for before repeating.
virtual double distanceGoal(const ompl::base::State *st) const
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...