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GoalState.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_GOALS_GOAL_STATE_
38 #define OMPL_BASE_GOALS_GOAL_STATE_
39 
40 #include "ompl/base/goals/GoalSampleableRegion.h"
41 #include "ompl/base/ScopedState.h"
42 
43 namespace ompl
44 {
45 
46  namespace base
47  {
48 
51  {
52  public:
53 
56  {
57  type_ = GOAL_STATE;
58  }
59 
60  virtual ~GoalState(void);
61 
63  virtual void sampleGoal(State *st) const;
64 
66  virtual unsigned int maxSampleCount(void) const;
67 
69  virtual double distanceGoal(const State *st) const;
70 
73  virtual void print(std::ostream &out = std::cout) const;
74 
76  void setState(const State* st);
77 
79  void setState(const ScopedState<> &st);
80 
82  const State* getState(void) const;
83 
85  State* getState(void);
86 
87  protected:
88 
91  };
92 
93  }
94 }
95 
96 #endif
Definition of a scoped state.
Definition: ScopedState.h:56
Definition of a goal state.
Definition: GoalState.h:50
virtual unsigned int maxSampleCount(void) const
Return the maximum number of samples that can be asked for before repeating.
Definition: GoalState.cpp:62
virtual void sampleGoal(State *st) const
Sample a state in the goal region.
Definition: GoalState.cpp:57
Abstract definition of a goal region that can be sampled.
void setState(const State *st)
Set the goal state.
Definition: GoalState.cpp:67
GoalType type_
Goal type.
Definition: Goal.h:147
State * state_
The goal state.
Definition: GoalState.h:90
virtual double distanceGoal(const State *st) const
Compute the distance to the goal (heuristic)
Definition: GoalState.cpp:46
A boost shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:50
const State * getState(void) const
Get the goal state.
Definition: GoalState.cpp:79
This bit is set if casting to goal state (ompl::base::GoalState) is possible.
Definition: GoalTypes.h:58
virtual void print(std::ostream &out=std::cout) const
Print information about the goal data structure to a stream.
Definition: GoalState.cpp:51
GoalState(const SpaceInformationPtr &si)
Create a goal representation that is in fact a state.
Definition: GoalState.h:55