GoalSampleableRegion.h
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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.
Definition: AppBase.h:21