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Goal.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/base/Goal.h"
00038 #include <limits>
00039 
00040 ompl::base::Goal::Goal(const SpaceInformationPtr &si) :
00041     type_(GOAL_ANY), si_(si), maximumPathLength_(std::numeric_limits<double>::infinity()),
00042     difference_(-1.0), approximate_(false)
00043 {
00044 }
00045 
00046 bool ompl::base::Goal::isSatisfied(const State *st, double *distance) const
00047 {
00048     if (distance != NULL)
00049         *distance = std::numeric_limits<double>::max();
00050     return isSatisfied(st);
00051 }
00052 
00053 bool ompl::base::Goal::isSatisfied(const State *st, double pathLength, double *distance) const
00054 {
00055     if (pathLength > maximumPathLength_)
00056     {
00057         if (distance != NULL)
00058             isSatisfied(st, distance);
00059         return false;
00060     }
00061     else
00062         return isSatisfied(st, distance);
00063 }