ompl::base::Goal Class Referenceabstract
Abstract definition of goals. More...
#include <ompl/base/Goal.h>
Inheritance diagram for ompl::base::Goal:
Public Member Functions  
Goal (const Goal &)=delete  
Goal &  operator= (const Goal &)=delete 
Goal (SpaceInformationPtr si)  
Constructor. The goal must always know the space information it is part of.  
virtual  ~Goal ()=default 
Destructor.  
template<class T >  
T *  as () 
Cast this instance to a desired type. More...  
template<class T >  
const T *  as () const 
Cast this instance to a desired type. More...  
GoalType  getType () const 
Return the goal type.  
bool  hasType (GoalType type) const 
Check if this goal can be cast to a particular goal type.  
const SpaceInformationPtr &  getSpaceInformation () const 
Get the space information this goal is for.  
virtual bool  isSatisfied (const State *st) const =0 
Return true if the state satisfies the goal constraints.  
virtual bool  isSatisfied (const State *st, double *distance) const 
Return true if the state satisfies the goal constraints and compute the distance between the state given as argument and the goal (even if the goal is not satisfied). This distance can be an approximation. It can even be set to a constant, if such a computation is not possible. More...  
virtual bool  isStartGoalPairValid (const State *, const State *) const 
Since there can be multiple starting states (and multiple goal states) it is possible certain pairs are not to be allowed. By default we however assume all such pairs are allowed. Note: if this function returns true, isSatisfied() need not be called.  
virtual void  print (std::ostream &out=std::cout) const 
Print information about the goal.  
Protected Attributes  
GoalType  type_ 
Goal type.  
SpaceInformationPtr  si_ 
The space information for this goal.  
Detailed Description
Member Function Documentation
◆ as() [1/2]
template<class T >

inline 
◆ as() [2/2]
template<class T >

inline 
◆ isSatisfied()

virtual 
Return true if the state satisfies the goal constraints and compute the distance between the state given as argument and the goal (even if the goal is not satisfied). This distance can be an approximation. It can even be set to a constant, if such a computation is not possible.
 Parameters

st the state to check for validity distance location at which distance to goal will be stored
 Note
 The default implementation sets the distance to a constant.
 If this function returns true, isStartGoalPairValid() need not be called.
Reimplemented in ompl::base::MorseGoal, and ompl::base::GoalRegion.
The documentation for this class was generated from the following files: