GoalSampleableRegion.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2010, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_GOALS_GOAL_SAMPLEABLE_REGION_
38 #define OMPL_BASE_GOALS_GOAL_SAMPLEABLE_REGION_
39 
40 #include "ompl/base/goals/GoalRegion.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
47  class GoalSampleableRegion : public GoalRegion
48  {
49  public:
52  {
54  }
55 
56  ~GoalSampleableRegion() override = default;
57 
59  virtual void sampleGoal(State *st) const = 0;
60 
62  virtual unsigned int maxSampleCount() const = 0;
63 
65  bool canSample() const
66  {
67  return maxSampleCount() > 0;
68  }
69 
75  virtual bool couldSample() const
76  {
77  return canSample();
78  }
79  };
80  }
81 }
82 
83 #endif
GoalType type_
Goal type.
Definition: Goal.h:210
virtual unsigned int maxSampleCount() const =0
Return the maximum number of samples that can be asked for before repeating.
A shared pointer wrapper for ompl::base::SpaceInformation.
GoalSampleableRegion(const SpaceInformationPtr &si)
Create a goal region that can be sampled.
virtual bool couldSample() const
Return true if samples could be generated by this sampler at some point in the future....
bool canSample() const
Return true if maxSampleCount() > 0, since in this case samples can certainly be produced.
GoalRegion(const SpaceInformationPtr &si)
Create a goal region.
Definition: GoalRegion.cpp:41
@ GOAL_SAMPLEABLE_REGION
This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible.
Definition: GoalTypes.h:152
virtual void sampleGoal(State *st) const =0
Sample a state in the goal region.
Main namespace. Contains everything in this library.