Class Goal

Inheritance Relationships

Derived Type

Class Documentation

class Goal

Abstract definition of goals.

Subclassed by ompl::base::GoalRegion

Public Functions

Goal(const Goal&) = delete
Goal &operator=(const Goal&) = delete
Goal(SpaceInformationPtr si)

Constructor. The goal must always know the space information it is part of.

virtual ~Goal() = default

Destructor.

template<class T>
inline T *as()

Cast this instance to a desired type.

template<class T>
inline const T *as() const

Cast this instance to a desired type.

inline GoalType getType() const

Return the goal type.

inline bool hasType(GoalType type) const

Check if this goal can be cast to a particular goal type.

inline const SpaceInformationPtr &getSpaceInformation() const

Get the space information this goal is for.

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

Return true if the state satisfies the goal constraints.

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

Return true if the state satisfies the goal constraints and compute the distance between the state given as argument and the goal (even if the goal is not satisfied). This distance can be an approximation. It can even be set to a constant, if such a computation is not possible.

Note

The default implementation sets the distance to a constant.

Note

If this function returns true, isStartGoalPairValid() need not be called.

Parameters:

  • st – the state to check for validity

  • distance – location at which distance to goal will be stored

inline virtual bool isStartGoalPairValid(const State*, const State*) const

Since there can be multiple starting states (and multiple goal states) it is possible certain pairs are not to be allowed. By default we however assume all such pairs are allowed. Note: if this function returns true, isSatisfied() need not be called.

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

Print information about the goal.

Protected Attributes

GoalType type_

Goal type.

SpaceInformationPtr si_

The space information for this goal.