MorseGoal.h

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/* Author: Caleb Voss */
 
#ifndef OMPL_EXTENSION_MORSE_GOAL_
#define OMPL_EXTENSION_MORSE_GOAL_
 
#include "ompl/base/Goal.h"
#include "ompl/base/SpaceInformation.h"
 
#include <limits>
 
namespace ompl
{
    namespace base
    {
        class MorseGoal : public Goal
        {
        public:
            MorseGoal(SpaceInformationPtr si) : Goal(si), distance_(std::numeric_limits<double>::max())
            {
            }
 
            mutable double distance_;
 
            bool isSatisfied(const State *state) const override;
 
            bool isSatisfied(const State *state, double *distance) const override;
 
            virtual bool isSatisfied_Py(const State *state) const = 0;
        };
    }
}
 
#endif