GoalSpace.h

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/* Author: Jonathan Gammell */
 
#ifndef OMPL_BASE_GOALS_GOAL_SPACE_
#define OMPL_BASE_GOALS_GOAL_SPACE_
 
#include "ompl/base/goals/GoalSampleableRegion.h"
#include "ompl/base/StateSpace.h"
 
namespace ompl
{
    namespace base
    {
        class GoalSpace : public GoalSampleableRegion
        {
        public:
            GoalSpace(const SpaceInformationPtr &si) : GoalSampleableRegion(si)
            {
                type_ = GOAL_SAMPLEABLE_REGION;
            }
 
            ~GoalSpace() override;

            void sampleGoal(State *st) const override;

            unsigned int maxSampleCount() const override;

            double distanceGoal(const State *st) const override;

            void print(std::ostream &out = std::cout) const override;

            void setSpace(const StateSpacePtr space);

            StateSpacePtr getSpace() const;
 
        protected:
            StateSpacePtr goalSpace_;

            StateSamplerPtr goalSampler_;
        };
    }  // namespace base
}  // namespace ompl
 
#endif