Class GoalState

Defined in File GoalState.h

Inheritance Relationships

Base Type

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

Class Documentation

class GoalState : public ompl::base::GoalSampleableRegion 

Definition of a goal state.

Public Functions

inline GoalState(const SpaceInformationPtr &si): Create a goal representation that is in fact a state

~GoalState() 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 setState(const State *st): Set the goal state.

void setState(const ScopedState<> &st): Set the goal state.

const State *getState() const: Get the goal state.

State *getState(): Get the goal state.

Protected Attributes

State *state_: The goal state.