Definition of a goal state. More...

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

Inheritance diagram for ompl::base::GoalState:

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Public Member Functions
	GoalState (const SpaceInformationPtr &si)
	Create a goal representation that is in fact a state

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.

virtual double	distanceGoal (const State *st) const override
	Compute the distance to the goal (heuristic)

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

void	setState (const State *st)
	Set the goal state.

void	setState (const ScopedState<> &st)
	Set the goal state.

const State *	getState () const
	Get the goal state.

State *	getState ()
	Get the goal state.

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

Goal &	operator= (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 SpaceInformationPtr &	getSpaceInformation () 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
State *	state_
	The goal state.

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 goal state.

Definition at line 112 of file GoalState.h.

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

ompl/base/goals/GoalState.h
ompl/base/goals/src/GoalState.cpp

Public Member Functions

Protected Attributes

Detailed Description