Definition of a set of goal states. More...
#include <GoalStates.h>
Public Member Functions | |
GoalStates (const SpaceInformationPtr &si) | |
Create a goal representation that is in fact a set of states. | |
virtual void | sampleGoal (State *st) const |
Sample a state in the goal region. | |
virtual unsigned int | maxSampleCount (void) const |
Return the maximum number of samples that can be asked for before repeating. | |
virtual double | distanceGoal (const State *st) const |
Compute the distance to the goal (heuristic). This function is the one used in computing the distance to the goal in a call to isSatisfied() | |
virtual void | print (std::ostream &out=std::cout) const |
Print information about the goal data structure to a stream. | |
virtual void | addState (const State *st) |
Add a goal state. | |
void | addState (const ScopedState<> &st) |
Add a goal state (calls the previous definition of addState()) | |
virtual void | clear (void) |
Clear all goal states. | |
bool | hasStates (void) const |
Check if there are any states in this goal region. | |
Public Attributes | |
std::vector< State * > | states |
The goal states. Only ones that are valid are considered by the motion planner. |
Definition of a set of goal states.
Definition at line 50 of file GoalStates.h.