GoalRegion.cpp

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/* Author: Ioan Sucan */
 
#include "ompl/base/goals/GoalRegion.h"
#include "ompl/base/SpaceInformation.h"
#include <limits>
 
ompl::base::GoalRegion::GoalRegion(const SpaceInformationPtr &si)
  : Goal(si), threshold_(std::numeric_limits<double>::epsilon())
{
    type_ = GOAL_REGION;
}
 
bool ompl::base::GoalRegion::isSatisfied(const State *st) const
{
    return isSatisfied(st, nullptr);
}
 
bool ompl::base::GoalRegion::isSatisfied(const State *st, double *distance) const
{
    double d2g = distanceGoal(st);
    if (distance != nullptr)
        *distance = d2g;
    return d2g < threshold_;
}
 
void ompl::base::GoalRegion::print(std::ostream &out) const
{
    out << "Goal region, threshold = " << threshold_ << ", memory address = " << this << std::endl;
}