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GoalRegion.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_GOALS_GOAL_REGION_
38 #define OMPL_BASE_GOALS_GOAL_REGION_
39 
40 #include "ompl/base/Goal.h"
41 
42 
43 namespace ompl
44 {
45 
46  namespace base
47  {
48 
50  class GoalRegion : public Goal
51  {
52  public:
53 
56 
57  virtual ~GoalRegion(void)
58  {
59  }
60 
62  virtual bool isSatisfied(const State *st) const;
63 
67  virtual bool isSatisfied(const State *st, double *distance) const;
68 
73  virtual double distanceGoal(const State *st) const = 0;
74 
77  virtual void print(std::ostream &out = std::cout) const;
78 
81  void setThreshold(double threshold)
82  {
83  threshold_ = threshold;
84  }
85 
88  double getThreshold(void) const
89  {
90  return threshold_;
91  }
92 
93  protected:
94 
98  double threshold_;
99  };
100  }
101 }
102 
103 #endif