GoalSampleableRegion.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_BASE_GOALS_GOAL_SAMPLEABLE_REGION_
#define OMPL_BASE_GOALS_GOAL_SAMPLEABLE_REGION_
 
#include "ompl/base/goals/GoalRegion.h"
 
namespace ompl
{
    namespace base
    {
        class GoalSampleableRegion : public GoalRegion
        {
        public:
            GoalSampleableRegion(const SpaceInformationPtr &si) : GoalRegion(si)
            {
                type_ = GOAL_SAMPLEABLE_REGION;
            }
 
            ~GoalSampleableRegion() override = default;
 
            virtual void sampleGoal(State *st) const = 0;
 
            virtual unsigned int maxSampleCount() const = 0;
 
            bool canSample() const
            {
                return maxSampleCount() > 0;
            }
 
            virtual bool couldSample() const
            {
                return canSample();
            }
        };
    }
}
 
#endif