43 class KoulesGoal : public ompl::base::GoalSampleableRegion
46 KoulesGoal(const ompl::base::SpaceInformationPtr &si)
47 : ompl::base::GoalSampleableRegion(si), stateSampler_(si->allocStateSampler())
49 threshold_ = 0.01;
53 virtual double distanceGoal(const ompl::base::State *st) const;
55 virtual void sampleGoal(ompl::base::State *st) const;
56 virtual unsigned int maxSampleCount() const
63 mutable ompl::RNG rng_;
64 ompl::base::StateSamplerPtr stateSampler_;
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
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.
The maximum distance that is allowed to the goal. By default, this is initialized to the minimum epsi...
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...
A shared pointer wrapper for ompl::base::StateSampler.
Abstract definition of a goal region that can be sampled.