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Goal.h
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34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_BASE_GOAL_
38#define OMPL_BASE_GOAL_
39
40#include "ompl/base/State.h"
41#include "ompl/base/SpaceInformation.h"
42#include "ompl/util/ClassForward.h"
43#include "ompl/base/GoalTypes.h"
44#include "ompl/util/Console.h"
45#include <iostream>
46#include <boost/concept_check.hpp>
47#include <vector>
48
49namespace ompl
50{
51 namespace base
52 {
54
55 OMPL_CLASS_FORWARD(Goal);
57
60
62 class Goal
63 {
64 public:
65 // non-copyable
66 Goal(const Goal &) = delete;
67 Goal &operator=(const Goal &) = delete;
68
70 Goal(SpaceInformationPtr si);
71
73 virtual ~Goal() = default;
74
76 template <class T>
77 T *as()
78 {
80 BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Goal *>));
81
82 return static_cast<T *>(this);
83 }
84
86 template <class T>
87 const T *as() const
88 {
90 BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Goal *>));
91
92 return static_cast<const T *>(this);
93 }
94
97 {
98 return type_;
99 }
100
102 bool hasType(GoalType type) const
103 {
104 return (type_ & type) == type;
105 }
106
109 {
110 return si_;
111 }
112
115 virtual bool isSatisfied(const State *st) const = 0;
116
128 virtual bool isSatisfied(const State *st, double *distance) const;
129
136 virtual bool isStartGoalPairValid(const State * /* start */, const State * /* goal */) const
137 {
138 return true;
139 }
140
142 virtual void print(std::ostream &out = std::cout) const;
143
144 protected:
147
150 };
151 }
152}
153
154#endif
Abstract definition of goals.
Definition Goal.h:63
virtual bool isSatisfied(const State *st) const =0
Return true if the state satisfies the goal constraints.
SpaceInformationPtr si_
The space information for this goal.
Definition Goal.h:149
virtual void print(std::ostream &out=std::cout) const
Print information about the goal.
Definition Goal.cpp:52
bool hasType(GoalType type) const
Check if this goal can be cast to a particular goal type.
Definition Goal.h:102
virtual ~Goal()=default
Destructor.
const SpaceInformationPtr & getSpaceInformation() const
Get the space information this goal is for.
Definition Goal.h:108
const T * as() const
Cast this instance to a desired type.
Definition Goal.h:87
GoalType getType() const
Return the goal type.
Definition Goal.h:96
T * as()
Cast this instance to a desired type.
Definition Goal.h:77
GoalType type_
Goal type.
Definition Goal.h:146
virtual bool isStartGoalPairValid(const State *, const State *) const
Since there can be multiple starting states (and multiple goal states) it is possible certain pairs a...
Definition Goal.h:136
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...
GoalType
The type of goal.
Definition GoalTypes.h:46
Main namespace. Contains everything in this library.