37 #ifndef OMPL_BASE_GOALS_GOAL_REGION_
38 #define OMPL_BASE_GOALS_GOAL_REGION_
40 #include "ompl/base/Goal.h"
77 virtual void print(std::ostream &out = std::cout)
const;
Abstract definition of goals.
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...
double getThreshold(void) const
Get the distance to the goal that is allowed for a state to be considered in the goal region...
virtual void print(std::ostream &out=std::cout) const
Print information about the goal data structure to a stream.
Definition of an abstract state.
void setThreshold(double threshold)
Set the distance to the goal that is allowed for a state to be considered in the goal region...
Definition of a goal region.
virtual bool isSatisfied(const State *st) const
Equivalent to calling isSatisfied(const State *, double *) with a NULL second argument.
GoalRegion(const SpaceInformationPtr &si)
Create a goal region.
double threshold_
The maximum distance that is allowed to the goal. By default, this is initialized to the minimum epsi...