GoalState.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2008, Willow Garage, Inc.
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Willow Garage nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_GOALS_GOAL_STATE_
38 #define OMPL_BASE_GOALS_GOAL_STATE_
39 
40 #include "ompl/base/goals/GoalSampleableRegion.h"
41 #include "ompl/base/ScopedState.h"
42 
43 namespace ompl
44 {
45  namespace base
46  {
48  class GoalState : public GoalSampleableRegion
49  {
50  public:
52  GoalState(const SpaceInformationPtr &si) : GoalSampleableRegion(si), state_(nullptr)
53  {
54  type_ = GOAL_STATE;
55  }
56 
57  ~GoalState() override;
58 
60  void sampleGoal(State *st) const override;
61 
63  unsigned int maxSampleCount() const override;
64 
66  virtual double distanceGoal(const State *st) const override;
67 
70  void print(std::ostream &out = std::cout) const override;
71 
73  void setState(const State *st);
74 
76  void setState(const ScopedState<> &st);
77 
79  const State *getState() const;
80 
82  State *getState();
83 
84  protected:
86  State *state_;
87  };
88  }
89 }
90 
91 #endif
GoalType type_
Goal type.
Definition: Goal.h:210
A shared pointer wrapper for ompl::base::SpaceInformation.
GoalSampleableRegion(const SpaceInformationPtr &si)
Create a goal region that can be sampled.
@ GOAL_STATE
This bit is set if casting to goal state (ompl::base::GoalState) is possible.
Definition: GoalTypes.h:155
State * state_
The goal state.
Definition: GoalState.h:182
void print(std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.
Definition: GoalState.cpp:51
void sampleGoal(State *st) const override
Sample a state in the goal region.
Definition: GoalState.cpp:57
GoalState(const SpaceInformationPtr &si)
Create a goal representation that is in fact a state
Definition: GoalState.h:148
virtual double distanceGoal(const State *st) const override
Compute the distance to the goal (heuristic)
Definition: GoalState.cpp:46
const State * getState() const
Get the goal state.
Definition: GoalState.cpp:79
unsigned int maxSampleCount() const override
Return the maximum number of samples that can be asked for before repeating.
Definition: GoalState.cpp:62
void setState(const State *st)
Set the goal state.
Definition: GoalState.cpp:67
Main namespace. Contains everything in this library.
Definition: AppBase.h:21