64 State *proj = si_->allocState();
82 out << "Goal space, threshold = " << threshold_ << ", memory address = " << this << ", volume = " << goalSpace_->getMeasure() << std::endl;
89 OMPL_ERROR("GoalSpace: The specified goal space must be the same type as the problem space.");
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.
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.
StateSpacePtr getSpace() const
Get the goal space.
void setSpace(const StateSpacePtr space)
Set the goal space.
A shared pointer wrapper for ompl::base::StateSpace.