ompl::base::MorseGoal Class Referenceabstract

This is a goal class that is more amenable to Python
More...

#include <ompl/extensions/morse/MorseGoal.h>

Inheritance diagram for ompl::base::MorseGoal:

## Public Member Functions

MorseGoal (SpaceInformationPtr si)

bool isSatisfied (const State *state) const override
Return true if state satisfies the goal.

bool isSatisfied (const State *state, double *distance) const override
Return true if state satisfies the goal, and store the distance to the goal in distance.

virtual bool isSatisfied_Py (const State *state) const =0
To be implemented in Python; behaves like isSatisfied(state, &distance_)

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.

virtual void print (std::ostream &out=std::cout) const

## Public Attributes

double distance_
Where MORSE will store the distance to goal during an isSatisfied() call.

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

SpaceInformationPtr si_
The space information for this goal.

## Detailed Description

This is a goal class that is more amenable to Python

Definition at line 50 of file MorseGoal.h.

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