37 #ifndef OMPL_BASE_GOALS_GOAL_STATE_
38 #define OMPL_BASE_GOALS_GOAL_STATE_
40 #include "ompl/base/goals/GoalSampleableRegion.h"
41 #include "ompl/base/ScopedState.h"
73 virtual void print(std::ostream &out = std::cout)
const;
Definition of a scoped state.
Definition of a goal state.
virtual unsigned int maxSampleCount(void) const
Return the maximum number of samples that can be asked for before repeating.
virtual void sampleGoal(State *st) const
Sample a state in the goal region.
Abstract definition of a goal region that can be sampled.
void setState(const State *st)
Set the goal state.
State * state_
The goal state.
virtual double distanceGoal(const State *st) const
Compute the distance to the goal (heuristic)
Definition of an abstract state.
const State * getState(void) const
Get the goal state.
This bit is set if casting to goal state (ompl::base::GoalState) is possible.
virtual void print(std::ostream &out=std::cout) const
Print information about the goal data structure to a stream.
GoalState(const SpaceInformationPtr &si)
Create a goal representation that is in fact a state.