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GoalState.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/base/GoalState.h"
00038 #include "ompl/base/SpaceInformation.h"
00039 
00040 ompl::base::GoalState::~GoalState(void)
00041 {
00042     if (state)
00043         si_->freeState(state);
00044 }
00045 
00046 double ompl::base::GoalState::distanceGoal(const State *st) const
00047 {
00048     return si_->distance(st, state);
00049 }
00050 
00051 void ompl::base::GoalState::print(std::ostream &out) const
00052 {
00053     out << "Goal state, threshold = " << threshold_ << ", memory address = " << this << ", state = " << std::endl;
00054     si_->printState(state, out);
00055 }
00056 
00057 void ompl::base::GoalState::sampleGoal(base::State *st) const
00058 {
00059     si_->copyState(st, state);
00060 }
00061 
00062 unsigned int ompl::base::GoalState::maxSampleCount(void) const
00063 {
00064     return 1;
00065 }
00066 
00067 void ompl::base::GoalState::setState(const State* st)
00068 {
00069     if (state)
00070         si_->freeState(state);
00071     state = si_->cloneState(st);
00072 }
00073 
00074 void ompl::base::GoalState::setState(const ScopedState<> &st)
00075 {
00076     setState(st.get());
00077 }