Definition of a goal region. More...
#include <GoalRegion.h>
Public Member Functions | |
| 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(). | |
| double | getThreshold (void) const |
| Get the distance to the goal that is allowed for a state to be considered in the goal region. | |
| GoalRegion (const SpaceInformationPtr &si) | |
| Create a goal region. | |
| 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 bool | isSatisfied (const State *st) const |
| Equivalent to calling isSatisfied(const State *, double *) with a NULL second argument. | |
| 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. | |
| virtual | ~GoalRegion (void) |
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. | |
Definition of a goal region.
Definition at line 50 of file GoalRegion.h.
| ompl::base::GoalRegion::GoalRegion | ( | const SpaceInformationPtr & | si | ) |
Create a goal region.
| virtual ompl::base::GoalRegion::~GoalRegion | ( | void | ) | [inline, virtual] |
Definition at line 57 of file GoalRegion.h.
| virtual double ompl::base::GoalRegion::distanceGoal | ( | const State * | st | ) | const [pure virtual] |
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().
Implemented in ompl::base::GoalLazySamples, ompl::base::GoalState, and ompl::base::GoalStates.
| double ompl::base::GoalRegion::getThreshold | ( | void | ) | const [inline] |
Get the distance to the goal that is allowed for a state to be considered in the goal region.
Definition at line 88 of file GoalRegion.h.
| virtual bool ompl::base::GoalRegion::isSatisfied | ( | const State * | st, | |
| double * | distance | |||
| ) | const [virtual] |
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()).
Reimplemented from ompl::base::Goal.
| virtual bool ompl::base::GoalRegion::isSatisfied | ( | const State * | st | ) | const [virtual] |
Equivalent to calling isSatisfied(const State *, double *) with a NULL second argument.
Implements ompl::base::Goal.
| virtual void ompl::base::GoalRegion::print | ( | std::ostream & | out = std::cout |
) | const [virtual] |
Print information about the goal data structure to a stream.
Reimplemented from ompl::base::Goal.
Reimplemented in ompl::base::GoalState, and ompl::base::GoalStates.
| void ompl::base::GoalRegion::setThreshold | ( | double | threshold | ) | [inline] |
Set the distance to the goal that is allowed for a state to be considered in the goal region.
Definition at line 81 of file GoalRegion.h.
double ompl::base::GoalRegion::threshold_ [protected] |
The maximum distance that is allowed to the goal. By default, this is initialized to the minimum epsilon value a double can represent.
Definition at line 98 of file GoalRegion.h.
