ompl::base::Goal Class Reference

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

Abstract definition of goals.

Definition at line 126 of file Goal.h.

Member Function Documentation

as() [1/2]

template<class T >

T* ompl::base::Goal::as ( )

inline

Cast this instance to a desired type.

Make sure the type we are casting to is indeed a goal

Definition at line 141 of file Goal.h.

as() [2/2]

template<class T >

const T* ompl::base::Goal::as ( ) const

inline

Cast this instance to a desired type.

Make sure the type we are casting to is indeed a goal

Definition at line 151 of file Goal.h.

isSatisfied()

bool ompl::base::Goal::isSatisfied ( const State *  st, double *  distance  ) const

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.

Definition at line 45 of file Goal.cpp.

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

• ompl/base/Goal.h
• ompl/base/src/Goal.cpp