42 namespace ompl
56 ~GoalSampleableRegion() override = default;
67 return maxSampleCount() > 0;
77 return canSample();
Abstract definition of a goal region that can be sampled.
virtual void sampleGoal(State *st) const =0
Sample a state in the goal region.
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....
GoalSampleableRegion(const SpaceInformationPtr &si)
Create a goal region that can be sampled.
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.
This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible.