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00037 #include "ompl/base/GoalStates.h"
00038 #include "ompl/base/SpaceInformation.h"
00039 #include "ompl/util/Exception.h"
00040 #include <limits>
00041
00042 ompl::base::GoalStates::~GoalStates(void)
00043 {
00044 freeMemory();
00045 }
00046
00047 void ompl::base::GoalStates::clear(void)
00048 {
00049 freeMemory();
00050 states.clear();
00051 }
00052
00053 void ompl::base::GoalStates::freeMemory(void)
00054 {
00055 for (unsigned int i = 0 ; i < states.size() ; ++i)
00056 si_->freeState(states[i]);
00057 }
00058
00059 double ompl::base::GoalStates::distanceGoal(const State *st) const
00060 {
00061 double dist = std::numeric_limits<double>::infinity();
00062 for (unsigned int i = 0 ; i < states.size() ; ++i)
00063 {
00064 double d = si_->distance(st, states[i]);
00065 if (d < dist)
00066 dist = d;
00067 }
00068 return dist;
00069 }
00070
00071 void ompl::base::GoalStates::print(std::ostream &out) const
00072 {
00073 out << states.size() << " goal states, threshold = " << threshold_ << ", memory address = " << this << std::endl;
00074 for (unsigned int i = 0 ; i < states.size() ; ++i)
00075 {
00076 si_->printState(states[i], out);
00077 out << std::endl;
00078 }
00079 }
00080
00081 void ompl::base::GoalStates::sampleGoal(base::State *st) const
00082 {
00083 if (states.empty())
00084 throw Exception("There are no goals to sample");
00085 si_->copyState(st, states[samplePosition]);
00086 samplePosition = (samplePosition + 1) % states.size();
00087 }
00088
00089 unsigned int ompl::base::GoalStates::maxSampleCount(void) const
00090 {
00091 return states.size();
00092 }
00093
00094 void ompl::base::GoalStates::addState(const State* st)
00095 {
00096 states.push_back(si_->cloneState(st));
00097 }
00098
00099 void ompl::base::GoalStates::addState(const ScopedState<> &st)
00100 {
00101 addState(st.get());
00102 }