47 : ompl::base::GoalSampleableRegion(si), stateSampler_(si->allocStateSampler())
49 threshold_ = 0.01;
63 mutable ompl::RNG rng_;
64 ompl::base::StateSamplerPtr stateSampler_;
virtual void sampleGoal(ompl::base::State *st) const
Sample a state in the goal region.
virtual unsigned int maxSampleCount() const
Return the maximum number of samples that can be asked for before repeating.
virtual double distanceGoal(const ompl::base::State *st) const
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
The maximum distance that is allowed to the goal. By default, this is initialized to the minimum epsi...
Abstract definition of a goal region that can be sampled.
A shared pointer wrapper for ompl::base::SpaceInformation.
A shared pointer wrapper for ompl::base::StateSampler.