goal_union.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <ompl/base/goals/GoalSampleableRegion.h>
00038 
00039 namespace ompl_interface
00040 {
00042 class GoalSampleableRegionMux : public ompl::base::GoalSampleableRegion
00043 {
00044 public:
00047   GoalSampleableRegionMux(const std::vector<ompl::base::GoalPtr>& goals);
00048 
00049   virtual ~GoalSampleableRegionMux()
00050   {
00051   }
00052 
00054   virtual void sampleGoal(ompl::base::State* st) const;
00055 
00057   virtual unsigned int maxSampleCount() const;
00058 
00060   virtual bool canSample() const;
00061 
00063   virtual bool couldSample() const;
00064 
00066   virtual bool isSatisfied(const ompl::base::State* st, double* distance) const;
00067 
00069   virtual double distanceGoal(const ompl::base::State* st) const;
00070 
00072   void startSampling();
00073 
00075   void stopSampling();
00076 
00078   virtual void print(std::ostream& out = std::cout) const;
00079 
00080 protected:
00081   std::vector<ompl::base::GoalPtr> goals_;
00082   mutable unsigned int gindex_;
00083 };
00084 }


ompl
Author(s): Ioan Sucan
autogenerated on Fri Apr 20 2018 03:31:50