GoalStates.h
virtual std::size_t getStateCount() const
Return the number of valid goal states.
Definition: GoalStates.cpp:113
virtual bool hasStates() const
Check if there are any states in this goal region.
Definition: GoalStates.cpp:118
virtual double distanceGoal(const State *st) const
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
Definition: GoalStates.cpp:60
virtual void print(std::ostream &out=std::cout) const
Print information about the goal data structure to a stream.
Definition: GoalStates.cpp:72
This bit is set if casting to goal states (ompl::base::GoalStates) is possible.
Definition: GoalTypes.h:61
virtual unsigned int maxSampleCount() const
Return the maximum number of samples that can be asked for before repeating.
Definition: GoalStates.cpp:90
virtual const State * getState(unsigned int index) const
Return a pointer to the indexth state in the state list.
Definition: GoalStates.cpp:105
virtual void sampleGoal(State *st) const
Sample a state in the goal region.
Definition: GoalStates.cpp:82
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:49
std::vector< State * > states_
The goal states. Only ones that are valid are considered by the motion planner.
Definition: GoalStates.h:91
A boost shared pointer wrapper for ompl::base::SpaceInformation.
GoalStates(const SpaceInformationPtr &si)
Create a goal representation that is in fact a set of states.
Definition: GoalStates.h:55