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GoalRegion.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/base/goals/GoalRegion.h"
38#include "ompl/base/SpaceInformation.h"
39#include <limits>
40
42 : Goal(si), threshold_(std::numeric_limits<double>::epsilon())
43{
45}
46
48{
49 return isSatisfied(st, nullptr);
50}
51
52bool ompl::base::GoalRegion::isSatisfied(const State *st, double *distance) const
53{
54 double d2g = distanceGoal(st);
55 if (distance != nullptr)
56 *distance = d2g;
57 return d2g < threshold_;
58}
59
60void ompl::base::GoalRegion::print(std::ostream &out) const
61{
62 out << "Goal region, threshold = " << threshold_ << ", memory address = " << this << std::endl;
63}
double threshold_
The maximum distance that is allowed to the goal. By default, this is initialized to the minimum epsi...
Definition GoalRegion.h:91
bool isSatisfied(const State *st) const override
Equivalent to calling isSatisfied(const State *, double *) with a nullptr second argument.
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...
void print(std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.
GoalRegion(const SpaceInformationPtr &si)
Create a goal region.
GoalType type_
Goal type.
Definition Goal.h:146
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition State.h:50
@ GOAL_REGION
This bit is set if casting to goal regions (ompl::base::GoalRegion) is possible.
Definition GoalTypes.h:52
STL namespace.