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GoalStates.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_GOAL_STATES_
00038 #define OMPL_BASE_GOAL_STATES_
00039 
00040 #include "ompl/base/GoalSampleableRegion.h"
00041 #include "ompl/base/ScopedState.h"
00042 #include <vector>
00043 
00044 namespace ompl
00045 {
00046     namespace base
00047     {
00048 
00050         class GoalStates : public GoalSampleableRegion
00051         {
00052         public:
00053 
00055             GoalStates(const SpaceInformationPtr &si) : GoalSampleableRegion(si), samplePosition(0)
00056             {
00057                 type_ = GOAL_STATES;
00058             }
00059 
00060             virtual ~GoalStates(void);
00061 
00062             virtual void sampleGoal(State *st) const;
00063 
00064             virtual unsigned int maxSampleCount(void) const;
00065 
00066             virtual double distanceGoal(const State *st) const;
00067 
00068             virtual void print(std::ostream &out = std::cout) const;
00069 
00071             virtual void addState(const State* st);
00072 
00074             void addState(const ScopedState<> &st);
00075 
00077             virtual void clear(void);
00078 
00080             bool hasStates(void) const
00081             {
00082                 return !states.empty();
00083             }
00084 
00086             std::vector<State*> states;
00087 
00088         private:
00089 
00091             mutable unsigned int samplePosition;
00092 
00094             void freeMemory(void);
00095 
00096         };
00097 
00098     }
00099 }
00100 
00101 #endif