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GoalStates.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/base/goals/GoalStates.h"
38#include "ompl/base/SpaceInformation.h"
39#include "ompl/util/Exception.h"
40#include <limits>
41
42ompl::base::GoalStates::~GoalStates()
43{
44 freeMemory();
45}
46
48{
49 freeMemory();
50 states_.clear();
51}
52
53void ompl::base::GoalStates::freeMemory()
54{
55 for (auto &state : states_)
56 si_->freeState(state);
57}
58
60{
61 double dist = std::numeric_limits<double>::infinity();
62 for (auto state : states_)
63 {
64 double d = si_->distance(st, state);
65 if (d < dist)
66 dist = d;
67 }
68 return dist;
69}
70
71void ompl::base::GoalStates::print(std::ostream &out) const
72{
73 out << states_.size() << " goal states, threshold = " << threshold_ << ", memory address = " << this << std::endl;
74 for (auto state : states_)
75 {
76 si_->printState(state, out);
77 out << std::endl;
78 }
79}
80
82{
83 if (states_.empty())
84 throw Exception("There are no goals to sample");
85
86 // Roll over the samplePosition_ if it points past the number of states.
87 samplePosition_ = samplePosition_ % states_.size();
88 // Get the next state.
89 si_->copyState(st, states_[samplePosition_]);
90 // Increment the counter. Do NOT roll over incase a new state is added before sampleGoal is called again.
91 samplePosition_++;
92}
93
95{
96 return states_.size();
97}
98
100{
101 states_.push_back(si_->cloneState(st));
102}
103
105{
106 addState(st.get());
107}
108
110{
111 if (index >= states_.size())
112 throw Exception("Index " + std::to_string(index) + " out of range. Only " + std::to_string(states_.size()) +
113 " states are available");
114 return states_[index];
115}
116
118{
119 return states_.size();
120}
121
123{
124 return !states_.empty();
125}
The exception type for ompl.
Definition Exception.h:47
double distanceGoal(const State *st) const override
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
virtual bool hasStates() const
Check if there are any states in this goal region.
unsigned int maxSampleCount() const override
Return the maximum number of samples that can be asked for before repeating.
virtual std::size_t getStateCount() const
Return the number of valid goal states.
virtual void addState(const State *st)
Add a goal state.
void sampleGoal(State *st) const override
Sample a state in the goal region.
void print(std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.
virtual void clear()
Clear all goal states.
virtual const State * getState(unsigned int index) const
Return a pointer to the indexth state in the state list.
Definition of a scoped state.
Definition ScopedState.h:57
StateType * get()
Returns a pointer to the contained state.
Definition of an abstract state.
Definition State.h:50