MorseGoal.cpp
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34 
35 /* Author: Caleb Voss */
36 
37 #include "ompl/extensions/morse/MorseGoal.h"
38 
39 bool ompl::base::MorseGoal::isSatisfied(const State *state) const
40 {
41  return isSatisfied_Py(state);
42 }
43 
44 bool ompl::base::MorseGoal::isSatisfied(const State *state, double *distance) const
45 {
46  bool sat = isSatisfied_Py(state);
47  if (distance != nullptr)
48  {
49  // the Python object will set distance_ during isSatisfied_py() call
50  *distance = distance_;
51  }
52  return sat;
53 }
virtual bool isSatisfied_Py(const State *state) const =0
To be implemented in Python; behaves like isSatisfied(state, &distance_)
double distance_
Where MORSE will store the distance to goal during an isSatisfied() call.
Definition: MorseGoal.h:58
Definition of an abstract state.
Definition: State.h:49
bool isSatisfied(const State *state) const
Return true if state satisfies the goal.
Definition: MorseGoal.cpp:39