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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 
44 namespace ompl
45 {
46  namespace base
47  {
48 
51  {
52  public:
53 
55  GoalStates(const SpaceInformationPtr &si) : GoalSampleableRegion(si), samplePosition_(0)
56  {
58  }
59 
60  virtual ~GoalStates(void);
61 
62  virtual void sampleGoal(State *st) const;
63 
64  virtual unsigned int maxSampleCount(void) const;
65 
66  virtual double distanceGoal(const State *st) const;
67 
68  virtual void print(std::ostream &out = std::cout) const;
69 
71  virtual void addState(const State* st);
72 
74  void addState(const ScopedState<> &st);
75 
77  virtual void clear(void);
78 
80  virtual bool hasStates(void) const;
81 
83  virtual const State* getState(unsigned int index) const;
84 
86  virtual std::size_t getStateCount(void) const;
87 
88  protected:
89 
91  std::vector<State*> states_;
92 
93  private:
94 
96  mutable unsigned int samplePosition_;
97 
99  void freeMemory(void);
100 
101  };
102 
103  }
104 }
105 
106 #endif
virtual bool hasStates(void) const
Check if there are any states in this goal region.
Definition: GoalStates.cpp:118
Definition of a scoped state.
Definition: ScopedState.h:56
virtual double distanceGoal(const State *st) const
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
Definition: GoalStates.cpp:60
virtual void print(std::ostream &out=std::cout) const
Print information about the goal data structure to a stream.
Definition: GoalStates.cpp:72
This bit is set if casting to goal states (ompl::base::GoalStates) is possible.
Definition: GoalTypes.h:61
virtual unsigned int maxSampleCount(void) const
Return the maximum number of samples that can be asked for before repeating.
Definition: GoalStates.cpp:90
virtual std::size_t getStateCount(void) const
Return the number of valid goal states.
Definition: GoalStates.cpp:113
Definition of a set of goal states.
Definition: GoalStates.h:50
virtual const State * getState(unsigned int index) const
Return a pointer to the indexth state in the state list.
Definition: GoalStates.cpp:105
virtual void addState(const State *st)
Add a goal state.
Definition: GoalStates.cpp:95
virtual void sampleGoal(State *st) const
Sample a state in the goal region.
Definition: GoalStates.cpp:82
Abstract definition of a goal region that can be sampled.
GoalType type_
Goal type.
Definition: Goal.h:147
std::vector< State * > states_
The goal states. Only ones that are valid are considered by the motion planner.
Definition: GoalStates.h:91
A boost shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:50
virtual void clear(void)
Clear all goal states.
Definition: GoalStates.cpp:48
GoalStates(const SpaceInformationPtr &si)
Create a goal representation that is in fact a set of states.
Definition: GoalStates.h:55