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Goal.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/base/Goal.h"
38#include <limits>
39#include <utility>
40
41ompl::base::Goal::Goal(SpaceInformationPtr si) : type_(GOAL_ANY), si_(std::move(si))
42{
43}
44
45bool ompl::base::Goal::isSatisfied(const State *st, double *distance) const
46{
47 if (distance != nullptr)
48 *distance = std::numeric_limits<double>::max();
49 return isSatisfied(st);
50}
51
52void ompl::base::Goal::print(std::ostream &out) const
53{
54 out << "Goal memory address " << this << std::endl;
55}
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
GoalType type_
Goal type.
Definition Goal.h:146
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition State.h:50
@ GOAL_ANY
This bit is set if casting to generic goal regions (ompl::base::Goal) is possible....
Definition GoalTypes.h:49
STL namespace.