GoalState.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_BASE_GOALS_GOAL_STATE_
#define OMPL_BASE_GOALS_GOAL_STATE_
 
#include "ompl/base/goals/GoalSampleableRegion.h"
#include "ompl/base/ScopedState.h"
 
namespace ompl
{
    namespace base
    {
        class GoalState : public GoalSampleableRegion
        {
        public:
            GoalState(const SpaceInformationPtr &si) : GoalSampleableRegion(si), state_(nullptr)
            {
                type_ = GOAL_STATE;
            }
 
            ~GoalState() override;

            void sampleGoal(State *st) const override;

            unsigned int maxSampleCount() const override;

            virtual double distanceGoal(const State *st) const override;

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

            void setState(const State *st);

            void setState(const ScopedState<> &st);

            const State *getState() const;

            State *getState();
 
        protected:
            State *state_;
        };
    }  // namespace base
}  // namespace ompl
 
#endif