This is a goal class that is more amenable to Python
More...

Inheritance diagram for ompl::base::MorseGoal:

Public Member Functions
	MorseGoal (SpaceInformationPtr si)

bool	isSatisfied (const State *state) const override
	Return true if state satisfies the goal.

bool	isSatisfied (const State state, double distance) const override
	Return true if state satisfies the goal, and store the distance to the goal in distance.

virtual bool	isSatisfied_Py (const State *state) const =0
	To be implemented in Python; behaves like isSatisfied(state, &distance_)

Public Member Functions inherited from ompl::base::Goal
	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	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.

Public Attributes
double	distance_
	Where MORSE will store the distance to goal during an isSatisfied() call.

Additional Inherited Members
Protected Attributes inherited from ompl::base::Goal
GoalType	type_
	Goal type.

SpaceInformationPtr	si_
	The space information for this goal.

Detailed Description

This is a goal class that is more amenable to Python

Definition at line 114 of file MorseGoal.h.

The documentation for this class was generated from the following files:

Public Member Functions