GoalRegion.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_GOALS_GOAL_REGION_
38 #define OMPL_BASE_GOALS_GOAL_REGION_
39 
40 #include "ompl/base/Goal.h"
41 
42 
43 namespace ompl
44 {
45 
46  namespace base
47  {
48 
50  class GoalRegion : public Goal
51  {
52  public:
53 
56 
57  virtual ~GoalRegion()
58  {
59  }
60 
62  virtual bool isSatisfied(const State *st) const;
63 
67  virtual bool isSatisfied(const State *st, double *distance) const;
68 
73  virtual double distanceGoal(const State *st) const = 0;
74 
77  virtual void print(std::ostream &out = std::cout) const;
78 
81  void setThreshold(double threshold)
82  {
83  threshold_ = threshold;
84  }
85 
88  double getThreshold() const
89  {
90  return threshold_;
91  }
92 
93  protected:
94 
98  double threshold_;
99  };
100  }
101 }
102 
103 #endif
Abstract definition of goals.
Definition: Goal.h:63
virtual void print(std::ostream &out=std::cout) const
Print information about the goal data structure to a stream.
Definition: GoalRegion.cpp:59
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...
Main namespace. Contains everything in this library.
Definition: Cost.h:42
A boost shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:50
void setThreshold(double threshold)
Set the distance to the goal that is allowed for a state to be considered in the goal region...
Definition: GoalRegion.h:81
Definition of a goal region.
Definition: GoalRegion.h:50
double getThreshold() const
Get the distance to the goal that is allowed for a state to be considered in the goal region...
Definition: GoalRegion.h:88
virtual bool isSatisfied(const State *st) const
Equivalent to calling isSatisfied(const State *, double *) with a NULL second argument.
Definition: GoalRegion.cpp:46
GoalRegion(const SpaceInformationPtr &si)
Create a goal region.
Definition: GoalRegion.cpp:41
double threshold_
The maximum distance that is allowed to the goal. By default, this is initialized to the minimum epsi...
Definition: GoalRegion.h:98