goal_union.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #include <ompl/base/goals/GoalSampleableRegion.h>
38 
39 namespace ompl_interface
40 {
42 class GoalSampleableRegionMux : public ompl::base::GoalSampleableRegion
43 {
44 public:
47  GoalSampleableRegionMux(const std::vector<ompl::base::GoalPtr>& goals);
48 
50  {
51  }
52 
54  virtual void sampleGoal(ompl::base::State* st) const;
55 
57  virtual unsigned int maxSampleCount() const;
58 
60  virtual bool canSample() const;
61 
63  virtual bool couldSample() const;
64 
66  virtual bool isSatisfied(const ompl::base::State* st, double* distance) const;
67 
69  virtual double distanceGoal(const ompl::base::State* st) const;
70 
72  void startSampling();
73 
75  void stopSampling();
76 
78  virtual void print(std::ostream& out = std::cout) const;
79 
80 protected:
81  std::vector<ompl::base::GoalPtr> goals_;
82  mutable unsigned int gindex_;
83 };
84 }
std::vector< ompl::base::GoalPtr > goals_
Definition: goal_union.h:81
virtual bool canSample() const
Query if sampler can find any sample.
Definition: goal_union.cpp:97
virtual bool isSatisfied(const ompl::base::State *st, double *distance) const
Is the goal satisfied for this state (given a distance)
Definition: goal_union.cpp:113
The MoveIt interface to OMPL.
virtual bool couldSample() const
Query if sampler could find a sample in the future.
Definition: goal_union.cpp:105
virtual void sampleGoal(ompl::base::State *st) const
Sample a goal.
Definition: goal_union.cpp:75
virtual void print(std::ostream &out=std::cout) const
Pretty print goal information.
Definition: goal_union.cpp:133
GoalSampleableRegionMux(const std::vector< ompl::base::GoalPtr > &goals)
Constructor.
Definition: goal_union.cpp:56
virtual unsigned int maxSampleCount() const
Get the max sample count.
Definition: goal_union.cpp:89
double distance(const urdf::Pose &transform)
virtual double distanceGoal(const ompl::base::State *st) const
Find the distance of this state from the goal.
Definition: goal_union.cpp:121
void stopSampling()
If there are any member lazy samplers, stop them.
Definition: goal_union.cpp:68
void startSampling()
If there are any member lazy samplers, start them.
Definition: goal_union.cpp:61


ompl
Author(s): Ioan Sucan
autogenerated on Sat Apr 21 2018 02:55:34