43 namespace ompl
57 ~GoalSpace() override;
63 unsigned int maxSampleCount() const override;
70 void print(std::ostream &out = std::cout) const override;
Abstract definition of a goal region that can be sampled.
Definition of a goal space, i.e., a subspace of the problem state space that defines the goal.
void sampleGoal(State *st) const override
Sample a state in the goal region.
GoalSpace(const SpaceInformationPtr &si)
Create a goal representation that is a space.
The goal space sampler.
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.
The goal volume as defined by a state space.
void setSpace(const StateSpacePtr space)
Set the goal space.
A shared pointer wrapper for ompl::base::SpaceInformation.
A shared pointer wrapper for ompl::base::StateSampler.
A shared pointer wrapper for ompl::base::StateSpace.
This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible.