MorseGoal.h
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34 
35 /* Author: Caleb Voss */
36 
37 #ifndef OMPL_EXTENSION_MORSE_GOAL_
38 #define OMPL_EXTENSION_MORSE_GOAL_
39 
40 #include "ompl/base/Goal.h"
41 #include "ompl/base/SpaceInformation.h"
42 
43 #include <limits>
44 
45 namespace ompl
46 {
47  namespace base
48  {
50  class MorseGoal : public Goal
51  {
52  public:
53  MorseGoal(SpaceInformationPtr si) : Goal(si), distance_(std::numeric_limits<double>::max())
54  {
55  }
56 
58  mutable double distance_;
59 
61  bool isSatisfied(const State *state) const;
62 
65  bool isSatisfied(const State *state, double *distance) const;
66 
68  virtual bool isSatisfied_Py(const State *state) const = 0;
69  };
70  }
71 }
72 
73 #endif
This is a goal class that is more amenable to Python.
Definition: MorseGoal.h:50
Abstract definition of goals.
Definition: Goal.h:62
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
A shared pointer wrapper for ompl::base::SpaceInformation.
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