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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 
41 ompl::base::GoalRegion::GoalRegion(const SpaceInformationPtr &si) : Goal(si), threshold_(std::numeric_limits<double>::epsilon())
42 {
44 }
45 
47 {
48  return isSatisfied(st, NULL);
49 }
50 
51 bool ompl::base::GoalRegion::isSatisfied(const State *st, double *distance) const
52 {
53  double d2g = distanceGoal(st);
54  if (distance)
55  *distance = d2g;
56  return d2g < threshold_;
57 }
58 
59 void ompl::base::GoalRegion::print(std::ostream &out) const
60 {
61  out << "Goal region, threshold = " << threshold_ << ", memory address = " << this << std::endl;
62 }
Abstract definition of goals.
Definition: Goal.h:63
This bit is set if casting to goal regions (ompl::base::GoalRegion) is possible.
Definition: GoalTypes.h:52
virtual void print(std::ostream &out=std::cout) const
Print information about the goal data structure to a stream.
Definition: GoalRegion.cpp:59
GoalType type_
Goal type.
Definition: Goal.h:147
A boost shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:50
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