37 #ifndef OMPL_BASE_GOALS_GOAL_STATES_
38 #define OMPL_BASE_GOALS_GOAL_STATES_
40 #include "ompl/base/goals/GoalSampleableRegion.h"
41 #include "ompl/base/ScopedState.h"
68 virtual void print(std::ostream &out = std::cout)
const;
77 virtual void clear(
void);
96 mutable unsigned int samplePosition_;
99 void freeMemory(
void);
virtual bool hasStates(void) const
Check if there are any states in this goal region.
Definition of a scoped state.
virtual double distanceGoal(const State *st) const
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
virtual void print(std::ostream &out=std::cout) const
Print information about the goal data structure to a stream.
This bit is set if casting to goal states (ompl::base::GoalStates) is possible.
virtual unsigned int maxSampleCount(void) const
Return the maximum number of samples that can be asked for before repeating.
virtual std::size_t getStateCount(void) const
Return the number of valid goal states.
Definition of a set of goal states.
virtual const State * getState(unsigned int index) const
Return a pointer to the indexth state in the state list.
virtual void addState(const State *st)
Add a goal state.
virtual void sampleGoal(State *st) const
Sample a state in the goal region.
Abstract definition of a goal region that can be sampled.
std::vector< State * > states_
The goal states. Only ones that are valid are considered by the motion planner.
Definition of an abstract state.
virtual void clear(void)
Clear all goal states.
GoalStates(const SpaceInformationPtr &si)
Create a goal representation that is in fact a set of states.