Class GoalSampleableRegion

Defined in File GoalSampleableRegion.h

Inheritance Relationships

Base Type

public ompl::base::GoalRegion (Class GoalRegion)

Derived Types

public ompl::base::GoalSpace (Class GoalSpace)
public ompl::base::GoalState (Class GoalState)
public ompl::base::GoalStates (Class GoalStates)

Class Documentation

class GoalSampleableRegion : public ompl::base::GoalRegion 

Abstract definition of a goal region that can be sampled.

Subclassed by ompl::base::GoalSpace, ompl::base::GoalState, ompl::base::GoalStates

Public Functions

inline GoalSampleableRegion(const SpaceInformationPtr &si): Create a goal region that can be sampled.

~GoalSampleableRegion() override = default

virtual void sampleGoal(State *st) const = 0: Sample a state in the goal region.

virtual unsigned int maxSampleCount() const = 0: Return the maximum number of samples that can be asked for before repeating.

inline bool canSample() const: Return true if maxSampleCount() > 0, since in this case samples can certainly be produced.

inline virtual bool couldSample() const: Return true if samples could be generated by this sampler at some point in the future. By default this is equivalent to canSample(), but for GoalLazySamples, this call also reflects the fact that a sampling thread is active and although no samples are produced yet, some may become available at some point in the future.