ompl::base::GoalStates Class Reference

Definition of a set of goal states. More...

#include <GoalStates.h>

Inheritance diagram for ompl::base::GoalStates:

[legend]

List of all members.

Public Member Functions
void	addState (const ScopedState<> &st)
	Add a goal state (calls the previous definition of addState()).
virtual void	addState (const State *st)
	Add a goal state.
virtual void	clear (void)
	Clear all goal states.
virtual double	distanceGoal (const State *st) const
	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().
	GoalStates (const SpaceInformationPtr &si)
	Create a goal representation that is in fact a set of states.
bool	hasStates (void) const
	Check if there are any states in this goal region.
virtual unsigned int	maxSampleCount (void) const
	Return the maximum number of samples that can be asked for before repeating.
virtual void	print (std::ostream &out=std::cout) const
	Print information about the goal data structure to a stream.
virtual void	sampleGoal (State *st) const
	Sample a state in the goal region.
virtual	~GoalStates (void)
Public Attributes
std::vector< State * >	states
	The goal states. Only ones that are valid are considered by the motion planner.
Private Member Functions
void	freeMemory (void)
	Free allocated memory.
Private Attributes
unsigned int	samplePosition
	The index of the next sample to be returned.

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Detailed Description

Definition of a set of goal states.

Definition at line 50 of file GoalStates.h.

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Constructor & Destructor Documentation

ompl::base::GoalStates::GoalStates

(

const SpaceInformationPtr &

si

)

[inline]

Create a goal representation that is in fact a set of states.

Definition at line 55 of file GoalStates.h.

virtual ompl::base::GoalStates::~GoalStates

(

void

)

[virtual]

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Member Function Documentation

void ompl::base::GoalStates::addState

(

const ScopedState<> &

st

)

Add a goal state (calls the previous definition of addState()).

virtual void ompl::base::GoalStates::addState

(

const State *

st

)

[virtual]

Add a goal state.

Reimplemented in ompl::base::GoalLazySamples.

virtual void ompl::base::GoalStates::clear

(

void

)

[virtual]

Clear all goal states.

Reimplemented in ompl::base::GoalLazySamples.

virtual double ompl::base::GoalStates::distanceGoal

(

const State *

st

)

const [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().

Implements ompl::base::GoalRegion.

Reimplemented in ompl::base::GoalLazySamples.

void ompl::base::GoalStates::freeMemory

(

void

)

[private]

Free allocated memory.

bool ompl::base::GoalStates::hasStates

(

void

)

const [inline]

Check if there are any states in this goal region.

Definition at line 79 of file GoalStates.h.

virtual unsigned int ompl::base::GoalStates::maxSampleCount

(

void

)

const [virtual]

Return the maximum number of samples that can be asked for before repeating.

Implements ompl::base::GoalSampleableRegion.

virtual void ompl::base::GoalStates::print

(

std::ostream &

out = std::cout

)

const [virtual]

Print information about the goal data structure to a stream.

Reimplemented from ompl::base::GoalRegion.

virtual void ompl::base::GoalStates::sampleGoal

(

State *

st

)

const [virtual]

Sample a state in the goal region.

Implements ompl::base::GoalSampleableRegion.

Reimplemented in ompl::base::GoalLazySamples.

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Member Data Documentation

unsigned int ompl::base::GoalStates::samplePosition [mutable, private]

The index of the next sample to be returned.

Definition at line 90 of file GoalStates.h.

std::vector<State*> ompl::base::GoalStates::states

The goal states. Only ones that are valid are considered by the motion planner.

Definition at line 85 of file GoalStates.h.

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

• GoalStates.h