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MorseGoal.h
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34
35/* Author: Caleb Voss */
36
37#ifndef OMPL_EXTENSION_MORSE_GOAL_
38#define OMPL_EXTENSION_MORSE_GOAL_
39
40#include "ompl/base/Goal.h"
41#include "ompl/base/SpaceInformation.h"
42
43#include <limits>
44
45namespace ompl
46{
47 namespace base
48 {
50 class MorseGoal : public Goal
51 {
52 public:
53 MorseGoal(SpaceInformationPtr si) : Goal(si), distance_(std::numeric_limits<double>::max())
54 {
55 }
56
58 mutable double distance_;
59
61 bool isSatisfied(const State *state) const override;
62
65 bool isSatisfied(const State *state, double *distance) const override;
66
68 virtual bool isSatisfied_Py(const State *state) const = 0;
69 };
70 }
71}
72
73#endif
bool isSatisfied(const State *state) const override
Return true if state satisfies the goal.
Definition MorseGoal.cpp:39
virtual bool isSatisfied_Py(const State *state) const =0
To be implemented in Python; behaves like isSatisfied(state, &distance_)
double distance_
Where MORSE will store the distance to goal during an isSatisfied() call.
Definition MorseGoal.h:58
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...
Main namespace. Contains everything in this library.