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GoalStates.h
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34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_BASE_GOALS_GOAL_STATES_
38#define OMPL_BASE_GOALS_GOAL_STATES_
39
40#include "ompl/base/goals/GoalSampleableRegion.h"
41#include "ompl/base/ScopedState.h"
42#include <vector>
43
44namespace ompl
45{
46 namespace base
47 {
50 {
51 public:
53 GoalStates(const SpaceInformationPtr &si) : GoalSampleableRegion(si), samplePosition_(0)
54 {
56 }
57
58 ~GoalStates() override;
59
60 void sampleGoal(State *st) const override;
61
62 unsigned int maxSampleCount() const override;
63
64 double distanceGoal(const State *st) const override;
65
66 void print(std::ostream &out = std::cout) const override;
67
69 virtual void addState(const State *st);
70
72 void addState(const ScopedState<> &st);
73
75 virtual void clear();
76
78 virtual bool hasStates() const;
79
81 virtual const State *getState(unsigned int index) const;
82
84 virtual std::size_t getStateCount() const;
85
86 protected:
88 std::vector<State *> states_;
89
90 private:
92 mutable unsigned int samplePosition_;
93
95 void freeMemory();
96 };
97 }
98}
99
100#endif
GoalSampleableRegion(const SpaceInformationPtr &si)
Create a goal region that can be sampled.
Definition of a set of goal states.
Definition GoalStates.h:50
double distanceGoal(const State *st) const override
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
virtual bool hasStates() const
Check if there are any states in this goal region.
unsigned int maxSampleCount() const override
Return the maximum number of samples that can be asked for before repeating.
std::vector< State * > states_
The goal states. Only ones that are valid are considered by the motion planner.
Definition GoalStates.h:88
virtual std::size_t getStateCount() const
Return the number of valid goal states.
virtual void addState(const State *st)
Add a goal state.
void sampleGoal(State *st) const override
Sample a state in the goal region.
void print(std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.
virtual void clear()
Clear all goal states.
GoalStates(const SpaceInformationPtr &si)
Create a goal representation that is in fact a set of states.
Definition GoalStates.h:53
virtual const State * getState(unsigned int index) const
Return a pointer to the indexth state in the state list.
GoalType type_
Goal type.
Definition Goal.h:146
Definition of a scoped state.
Definition ScopedState.h:57
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition State.h:50
This namespace contains sampling based planning routines shared by both planning under geometric cons...
@ GOAL_STATES
This bit is set if casting to goal states (ompl::base::GoalStates) is possible.
Definition GoalTypes.h:62
Main namespace. Contains everything in this library.