GoalStates.h
A shared pointer wrapper for ompl::base::SpaceInformation.
GoalSampleableRegion(const SpaceInformationPtr &si)
Create a goal region that can be sampled.
Definition: GoalSampleableRegion.h:147
void print(std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.
Definition: GoalStates.cpp:71
void sampleGoal(State *st) const override
Sample a state in the goal region.
Definition: GoalStates.cpp:81
double distanceGoal(const State *st) const override
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
Definition: GoalStates.cpp:59
std::vector< State * > states_
The goal states. Only ones that are valid are considered by the motion planner.
Definition: GoalStates.h:184
GoalStates(const SpaceInformationPtr &si)
Create a goal representation that is in fact a set of states
Definition: GoalStates.h:149
virtual const State * getState(unsigned int index) const
Return a pointer to the indexth state in the state list.
Definition: GoalStates.cpp:109
@ GOAL_STATES
This bit is set if casting to goal states (ompl::base::GoalStates) is possible.
Definition: GoalTypes.h:158
unsigned int maxSampleCount() const override
Return the maximum number of samples that can be asked for before repeating.
Definition: GoalStates.cpp:94
virtual std::size_t getStateCount() const
Return the number of valid goal states.
Definition: GoalStates.cpp:117
virtual bool hasStates() const
Check if there are any states in this goal region.
Definition: GoalStates.cpp:122