Loading...
Searching...
No Matches
GoalRegion.h
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2008, Willow Garage, Inc.
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the Willow Garage nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_BASE_GOALS_GOAL_REGION_
38#define OMPL_BASE_GOALS_GOAL_REGION_
39
40#include "ompl/base/Goal.h"
41
42namespace ompl
43{
44 namespace base
45 {
47 class GoalRegion : public Goal
48 {
49 public:
52
53 ~GoalRegion() override = default;
54
56 bool isSatisfied(const State *st) const override;
57
61 bool isSatisfied(const State *st, double *distance) const override;
62
67 virtual double distanceGoal(const State *st) const = 0;
68
71 void print(std::ostream &out = std::cout) const override;
72
75 void setThreshold(double threshold)
76 {
77 threshold_ = threshold;
78 }
79
82 double getThreshold() const
83 {
84 return threshold_;
85 }
86
87 protected:
91 double threshold_;
92 };
93 }
94}
95
96#endif
double threshold_
The maximum distance that is allowed to the goal. By default, this is initialized to the minimum epsi...
Definition GoalRegion.h:91
bool isSatisfied(const State *st) const override
Equivalent to calling isSatisfied(const State *, double *) with a nullptr second argument.
virtual double distanceGoal(const State *st) const =0
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
void print(std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.
double getThreshold() const
Get the distance to the goal that is allowed for a state to be considered in the goal region.
Definition GoalRegion.h:82
void setThreshold(double threshold)
Set the distance to the goal that is allowed for a state to be considered in the goal region.
Definition GoalRegion.h:75
GoalRegion(const SpaceInformationPtr &si)
Create a goal region.
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.