Loading...
Searching...
No Matches
GoalSpace.h
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2019, University of Oxford.
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the University of Oxford nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Author: Jonathan Gammell */
36
37#ifndef OMPL_BASE_GOALS_GOAL_SPACE_
38#define OMPL_BASE_GOALS_GOAL_SPACE_
39
40#include "ompl/base/goals/GoalSampleableRegion.h"
41#include "ompl/base/StateSpace.h"
42
43namespace ompl
44{
45 namespace base
46 {
49 {
50 public:
53 {
55 }
56
57 ~GoalSpace() override;
58
60 void sampleGoal(State *st) const override;
61
63 unsigned int maxSampleCount() const override;
64
66 double distanceGoal(const State *st) const override;
67
70 void print(std::ostream &out = std::cout) const override;
71
73 void setSpace(const StateSpacePtr space);
74
76 StateSpacePtr getSpace() const;
77
78 protected:
81
84 };
85 }
86}
87
88#endif
Abstract definition of a goal region that can be sampled.
Definition of a goal space, i.e., a subspace of the problem state space that defines the goal.
Definition: GoalSpace.h:49
void sampleGoal(State *st) const override
Sample a state in the goal region.
Definition: GoalSpace.cpp:44
GoalSpace(const SpaceInformationPtr &si)
Create a goal representation that is a space.
Definition: GoalSpace.h:52
StateSamplerPtr goalSampler_
The goal space sampler.
Definition: GoalSpace.h:83
unsigned int maxSampleCount() const override
Return the maximum number of samples that can be asked for before repeating.
Definition: GoalSpace.cpp:49
double distanceGoal(const State *st) const override
Compute the distance to the goal (heuristic)
Definition: GoalSpace.cpp:54
void print(std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.
Definition: GoalSpace.cpp:80
StateSpacePtr getSpace() const
Get the goal space.
Definition: GoalSpace.cpp:96
StateSpacePtr goalSpace_
The goal volume as defined by a state space.
Definition: GoalSpace.h:80
void setSpace(const StateSpacePtr space)
Set the goal space.
Definition: GoalSpace.cpp:85
GoalType type_
Goal type.
Definition: Goal.h:146
A shared pointer wrapper for ompl::base::SpaceInformation.
A shared pointer wrapper for ompl::base::StateSampler.
A shared pointer wrapper for ompl::base::StateSpace.
Definition of an abstract state.
Definition: State.h:50
@ GOAL_SAMPLEABLE_REGION
This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible.
Definition: GoalTypes.h:56
Main namespace. Contains everything in this library.