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GoalRegion.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/base/GoalRegion.h"
00038 #include "ompl/base/SpaceInformation.h"
00039 #include <limits>
00040 
00041 ompl::base::GoalRegion::GoalRegion(const SpaceInformationPtr &si) : Goal(si), threshold_(std::numeric_limits<double>::epsilon())
00042 {
00043     type_ = GOAL_REGION;
00044 }
00045 
00046 bool ompl::base::GoalRegion::isSatisfied(const State *st) const
00047 {
00048     return isSatisfied(st, NULL);
00049 }
00050 
00051 bool ompl::base::GoalRegion::isSatisfied(const State *st, double *distance) const
00052 {
00053     double d2g = distanceGoal(st);
00054     if (distance)
00055         *distance = d2g;
00056     return d2g < threshold_;
00057 }
00058 
00059 void ompl::base::GoalRegion::print(std::ostream &out) const
00060 {
00061     out << "Goal region, threshold = " << threshold_ << ", memory address = " << this << std::endl;
00062 }