ompl::base::GoalRegion Class Referenceabstract

Definition of a goal region. More...

#include <ompl/base/goals/GoalRegion.h>

Inheritance diagram for ompl::base::GoalRegion:

## Public Member Functions

GoalRegion (const SpaceInformationPtr &si)
Create a goal region.

bool isSatisfied (const State *st) const override
Equivalent to calling isSatisfied(const State *, double *) with a nullptr second argument.

bool isSatisfied (const State *st, double *distance) const override
Decide whether a given state is part of the goal region. Returns true if the distance to goal is less than the threshold (using distanceGoal())

virtual double distanceGoal (const State *st) const =0
Compute the distance to the goal (heuristic). This function is the one used in computing the distance to the goal in a call to isSatisfied()

void print (std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.

void setThreshold (double threshold)
Set the distance to the goal that is allowed for a state to be considered in the goal region.

double getThreshold () const
Get the distance to the goal that is allowed for a state to be considered in the goal region.

Public Member Functions inherited from ompl::base::Goal
Goal (const Goal &)=delete

Goaloperator= (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 SpaceInformationPtrgetSpaceInformation () 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.

## Protected Attributes

double threshold_
The maximum distance that is allowed to the goal. By default, this is initialized to the minimum epsilon value a double can represent.

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

SpaceInformationPtr si_
The space information for this goal.

## Detailed Description

Definition of a goal region.

Definition at line 47 of file GoalRegion.h.

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