KoulesGoal.h
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34 
35 /* Author: Beck Chen, Mark Moll */
36 
37 #ifndef DEMOS_KOULES_GOAL_
38 #define DEMOS_KOULES_GOAL_
39 
40 #include <ompl/base/goals/GoalSampleableRegion.h>
41 
42 // Sampleable goal region for KoulesModel.
44 {
45 public:
47  : ompl::base::GoalSampleableRegion(si), stateSampler_(si->allocStateSampler())
48  {
49  threshold_ = 0.01;
50  }
51 
52  // number of "live" koules plus the shortest distance between any live koule and an edge
53  virtual double distanceGoal(const ompl::base::State *st) const;
54  // pick a random state where each koule is on the edge of the workspace
55  virtual void sampleGoal(ompl::base::State *st) const;
56  virtual unsigned int maxSampleCount() const
57  {
58  return 100;
59  }
60 
61 
62 private:
63  mutable ompl::RNG rng_;
64  ompl::base::StateSamplerPtr stateSampler_;
65 };
66 
67 #endif
A shared pointer wrapper for ompl::base::StateSampler.
virtual void sampleGoal(ompl::base::State *st) const
Sample a state in the goal region.
Definition: KoulesGoal.cpp:63
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...
Definition: RandomNumbers.h:58
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:49
virtual unsigned int maxSampleCount() const
Return the maximum number of samples that can be asked for before repeating.
Definition: KoulesGoal.h:56
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...
Definition: KoulesGoal.cpp:39
double threshold_
The maximum distance that is allowed to the goal. By default, this is initialized to the minimum epsi...
Definition: GoalRegion.h:91