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ompl::base::GoalRegion Class Reference

Definition of a goal region. More...

#include <GoalRegion.h>

Inheritance diagram for ompl::base::GoalRegion:

Public Member Functions

 GoalRegion (const SpaceInformationPtr &si)
 Create a goal region.
virtual bool isSatisfied (const State *st) const
 Equivalent to calling isSatisfied(const State *, double *) with a NULL second argument.
virtual bool isSatisfied (const State *st, double *distance) const
 Decide whether a given state is part of the goal region. Returns true if the distance to goal is less than the threshold (using distanceGoal())
virtual double distanceGoal (const State *st) const =0
 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.
void setThreshold (double threshold)
 Set the distance to the goal that is allowed for a state to be considered in the goal region.
double getThreshold (void) const
 Get the distance to the goal that is allowed for a state to be considered in the goal region.
- Public Member Functions inherited from ompl::base::Goal
 Goal (const SpaceInformationPtr &si)
 Constructor. The goal must always know the space information it is part of.
virtual ~Goal (void)
 Destructor.
template<class T >
T * as (void)
 Cast this instance to a desired type.
template<class T >
const T * as (void) const
 Cast this instance to a desired type.
GoalType getType (void) const
 Return the goal type.
bool hasType (GoalType type) const
 Check if this goal can be cast to a particular goal type.
const SpaceInformationPtrgetSpaceInformation (void) const
 Get the space information this goal is for.
bool isSatisfied (const State *st, double pathLength, double *distance) const
 Return true if the state satisfies the goal constraints and the path length is less than the desired maximum length. This call also computes the distance between the state given as argument and the goal.
virtual bool isStartGoalPairValid (const State *, const State *) const
 Since there can be multiple starting states (and multiple goal states) it is possible certain pairs are not to be allowed. By default we however assume all such pairs are allowed. Note: if this function returns true, isSatisfied() need not be called.
double getMaximumPathLength (void) const
 Get the maximum length allowed for a solution path.
void setMaximumPathLength (double maximumPathLength)
 Set the maximum length allowed for a solution path. This value is checked only in the version of isSatisfied() that takes the path length as argument or by isPathLengthSatisfied(). The default maximal path length is infinity.
bool isPathLengthSatisfied (double pathLength) const
 Check if pathLength is smaller than the value returned by getMaximumPathLength()

Protected Attributes

double threshold_
 The maximum distance that is allowed to the goal. By default, this is initialized to the minimum epsilon value a double can represent.
- Protected Attributes inherited from ompl::base::Goal
GoalType type_
 Goal type.
SpaceInformationPtr si_
 The space information for this goal.
double maximumPathLength_
 The maximum length allowed for a solution path.

Detailed Description

Definition of a goal region.

Definition at line 50 of file GoalRegion.h.


The documentation for this class was generated from the following files: