goal_union.h

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/* Author: Ioan Sucan */

#include <ompl/base/goals/GoalSampleableRegion.h>

namespace ompl_interface
{

class GoalSampleableRegionMux : public ompl::base::GoalSampleableRegion
{
public:

  GoalSampleableRegionMux(const std::vector<ompl::base::GoalPtr> &goals);

  virtual ~GoalSampleableRegionMux()
  {
  }

  virtual void sampleGoal(ompl::base::State *st) const;

  virtual unsigned int maxSampleCount() const;

  virtual bool canSample() const;

  virtual bool couldSample() const;
  
  virtual bool isSatisfied(const ompl::base::State *st, double *distance) const;

  virtual double distanceGoal(const ompl::base::State *st) const;

  void startSampling();

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

protected:

  std::vector<ompl::base::GoalPtr> goals_;
  mutable unsigned int             gindex_;
};

}