Class GoalSpace

Defined in File GoalSpace.h

Inheritance Relationships

Base Type

public ompl::base::GoalSampleableRegion (Class GoalSampleableRegion)

Class Documentation

class GoalSpace : public ompl::base::GoalSampleableRegion 

Definition of a goal space, i.e., a subspace of the problem state space that defines the goal.

Public Functions

inline GoalSpace(const SpaceInformationPtr &si): Create a goal representation that is a space.

~GoalSpace() override

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

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

virtual double distanceGoal(const State *st) const override: Compute the distance to the goal (heuristic)

virtual void print(std::ostream &out = std::cout) const override: Print information about the goal data structure to a stream.

void setSpace(const StateSpacePtr space): Set the goal space.

StateSpacePtr getSpace() const: Get the goal space.

Protected Attributes

StateSpacePtr goalSpace_: The goal volume as defined by a state space.

StateSamplerPtr goalSampler_: The goal space sampler.