Program Listing for File Goal.h

↰ Return to documentation for file (src/ompl/base/Goal.h)

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Author: Ioan Sucan */

#ifndef OMPL_BASE_GOAL_
#define OMPL_BASE_GOAL_

#include "ompl/base/State.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/util/ClassForward.h"
#include "ompl/base/GoalTypes.h"
#include "ompl/util/Console.h"
#include <iostream>
#include <boost/concept_check.hpp>
#include <vector>

namespace ompl
{
    namespace base
    {

        OMPL_CLASS_FORWARD(Goal);

        class Goal
        {
        public:
            // non-copyable
            Goal(const Goal &) = delete;
            Goal &operator=(const Goal &) = delete;

            Goal(SpaceInformationPtr si);

            virtual ~Goal() = default;

            template <class T>
            T *as()
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Goal *>));

                return static_cast<T *>(this);
            }

            template <class T>
            const T *as() const
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Goal *>));

                return static_cast<const T *>(this);
            }

            GoalType getType() const
            {
                return type_;
            }

            bool hasType(GoalType type) const
            {
                return (type_ & type) == type;
            }

            const SpaceInformationPtr &getSpaceInformation() const
            {
                return si_;
            }

            virtual bool isSatisfied(const State *st) const = 0;

            virtual bool isSatisfied(const State *st, double *distance) const;

            virtual bool isStartGoalPairValid(const State * /* start */, const State * /* goal */) const
            {
                return true;
            }

            virtual void print(std::ostream &out = std::cout) const;

        protected:
            GoalType type_;

            SpaceInformationPtr si_;
        };
    }
}

#endif