Goal.h

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
/* Author: Ioan Sucan */
 
#ifndef OMPL_BASE_GOAL_
#define OMPL_BASE_GOAL_
 
#include "ompl/base/State.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/util/ClassForward.h"
#include "ompl/base/GoalTypes.h"
#include "ompl/util/Console.h"
#include <iostream>
#include <boost/concept_check.hpp>
#include <vector>
 
namespace ompl
{
    namespace base
    {

        OMPL_CLASS_FORWARD(Goal);


        class Goal
        {
        public:
            // non-copyable
            Goal(const Goal &) = delete;
            Goal &operator=(const Goal &) = delete;

            Goal(SpaceInformationPtr si);

            virtual ~Goal() = default;

            template <class T>
            T *as()
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Goal *>));
 
                return static_cast<T *>(this);
            }

            template <class T>
            const T *as() const
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Goal *>));
 
                return static_cast<const T *>(this);
            }

            GoalType getType() const
            {
                return type_;
            }

            bool hasType(GoalType type) const
            {
                return (type_ & type) == type;
            }

            const SpaceInformationPtr &getSpaceInformation() const
            {
                return si_;
            }

            virtual bool isSatisfied(const State *st) const = 0;

            virtual bool isSatisfied(const State *st, double *distance) const;

            virtual bool isStartGoalPairValid(const State * /* start */, const State * /* goal */) const
            {
                return true;
            }

            virtual void print(std::ostream &out = std::cout) const;
 
        protected:
            GoalType type_;

            SpaceInformationPtr si_;
        };
    }  // namespace base
}  // namespace ompl
 
#endif