GoalStates.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_BASE_GOALS_GOAL_STATES_
#define OMPL_BASE_GOALS_GOAL_STATES_
 
#include "ompl/base/goals/GoalSampleableRegion.h"
#include "ompl/base/ScopedState.h"
#include <vector>
 
namespace ompl
{
    namespace base
    {
        class GoalStates : public GoalSampleableRegion
        {
        public:
            GoalStates(const SpaceInformationPtr &si) : GoalSampleableRegion(si), samplePosition_(0)
            {
                type_ = GOAL_STATES;
            }
 
            ~GoalStates() override;
 
            void sampleGoal(State *st) const override;
 
            unsigned int maxSampleCount() const override;
 
            double distanceGoal(const State *st) const override;
 
            void print(std::ostream &out = std::cout) const override;
 
            virtual void addState(const State *st);
 
            void addState(const ScopedState<> &st);
 
            virtual void clear();
 
            virtual bool hasStates() const;
 
            virtual const State *getState(unsigned int index) const;
 
            virtual std::size_t getStateCount() const;
 
        protected:
            std::vector<State *> states_;
 
        private:
            mutable unsigned int samplePosition_;
 
            void freeMemory();
        };
    }
}
 
#endif