Goal.h

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/* 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_;
        };
    }
}
 
#endif