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 | |
| 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 | 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 111 of file GoalRegion.h.
The documentation for this class was generated from the following files:
- ompl/base/goals/GoalRegion.h
- ompl/base/goals/src/GoalRegion.cpp