ompl::base::GoalStates Class Reference

Definition of a set of goal states. More...

#include <ompl/base/goals/GoalStates.h>

Inheritance diagram for ompl::base::GoalStates:

## Public Member Functions

GoalStates (const SpaceInformationPtr &si)
Create a goal representation that is in fact a set of states.

void sampleGoal (State *st) const override
Sample a state in the goal region.

unsigned int maxSampleCount () const override
Return the maximum number of samples that can be asked for before repeating.

double distanceGoal (const State *st) const override
Compute the distance to the goal (heuristic). This function is the one used in computing the distance to the goal in a call to isSatisfied()

void print (std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.

virtual void addState (const State *st)

virtual void clear ()
Clear all goal states.

virtual bool hasStates () const
Check if there are any states in this goal region.

virtual const StategetState (unsigned int index) const
Return a pointer to the indexth state in the state list.

virtual std::size_t getStateCount () const
Return the number of valid goal states.

Public Member Functions inherited from ompl::base::GoalSampleableRegion
GoalSampleableRegion (const SpaceInformationPtr &si)
Create a goal region that can be sampled.

bool canSample () const
Return true if maxSampleCount() > 0, since in this case samples can certainly be produced.

virtual bool couldSample () const
Return true if samples could be generated by this sampler at some point in the future. By default this is equivalent to canSample(), but for GoalLazySamples, this call also reflects the fact that a sampling thread is active and although no samples are produced yet, some may become available at some point in the future.

Public Member Functions inherited from ompl::base::GoalRegion
GoalRegion (const SpaceInformationPtr &si)
Create a goal region.

bool isSatisfied (const State *st) const override
Equivalent to calling isSatisfied(const State *, double *) with a nullptr second argument.

bool isSatisfied (const State *st, double *distance) const override
Decide whether a given state is part of the goal region. Returns true if the distance to goal is less than the threshold (using distanceGoal())

void setThreshold (double threshold)
Set the distance to the goal that is allowed for a state to be considered in the goal region.

double getThreshold () const
Get the distance to the goal that is allowed for a state to be considered in the goal region.

Public Member Functions inherited from ompl::base::Goal
Goal (const Goal &)=delete

Goaloperator= (const Goal &)=delete

Goal (SpaceInformationPtr si)
Constructor. The goal must always know the space information it is part of.

virtual ~Goal ()=default
Destructor.

template<class T >
T * as ()
Cast this instance to a desired type. More...

template<class T >
const T * as () const
Cast this instance to a desired type. More...

GoalType getType () const
Return the goal type.

bool hasType (GoalType type) const
Check if this goal can be cast to a particular goal type.

const SpaceInformationPtrgetSpaceInformation () const
Get the space information this goal is for.

virtual bool isStartGoalPairValid (const State *, const State *) const
Since there can be multiple starting states (and multiple goal states) it is possible certain pairs are not to be allowed. By default we however assume all such pairs are allowed. Note: if this function returns true, isSatisfied() need not be called.

## Protected Attributes

std::vector< State * > states_
The goal states. Only ones that are valid are considered by the motion planner.

Protected Attributes inherited from ompl::base::GoalRegion
double threshold_
The maximum distance that is allowed to the goal. By default, this is initialized to the minimum epsilon value a double can represent.

Protected Attributes inherited from ompl::base::Goal
GoalType type_
Goal type.

SpaceInformationPtr si_
The space information for this goal.

## Detailed Description

Definition of a set of goal states.

Definition at line 49 of file GoalStates.h.

The documentation for this class was generated from the following files: