Class GoalRegion

Inheritance Relationships

Base Type

Derived Type

Class Documentation

class GoalRegion : public ompl::base::Goal

Definition of a goal region.

Subclassed by ompl::base::GoalSampleableRegion

Public Functions

GoalRegion(const SpaceInformationPtr &si)

Create a goal region.

~GoalRegion() override = default
virtual bool isSatisfied(const State *st) const override

Equivalent to calling isSatisfied(const State *, double *) with a nullptr second argument.

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

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 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()

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

Print information about the goal data structure to a stream.

inline void setThreshold(double threshold)

Set the distance to the goal that is allowed for a state to be considered in the goal region.

inline double getThreshold() const

Get the distance to the goal that is allowed for a state to be considered in the goal region.

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.