ompl: GoalStates.h Source File

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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_GOAL_STATES_
00038 #define OMPL_BASE_GOAL_STATES_
00039 
00040 #include "ompl/base/GoalSampleableRegion.h"
00041 #include "ompl/base/ScopedState.h"
00042 #include <vector>
00043 
00044 namespace ompl
00045 {
00046     namespace base
00047     {
00048 
00050         class GoalStates : public GoalSampleableRegion
00051         {
00052         public:
00053 
00055             GoalStates(const SpaceInformationPtr &si) : GoalSampleableRegion(si), samplePosition(0)
00056             {
00057             }
00058 
00059             virtual ~GoalStates(void);
00060 
00061             virtual void sampleGoal(State *st) const;
00062 
00063             virtual unsigned int maxSampleCount(void) const;
00064 
00065             virtual double distanceGoal(const State *st) const;
00066 
00067             virtual void print(std::ostream &out = std::cout) const;
00068 
00070             virtual void addState(const State* st);
00071 
00073             void addState(const ScopedState<> &st);
00074 
00076             virtual void clear(void);
00077 
00079             bool hasStates(void) const
00080             {
00081                 return !states.empty();
00082             }
00083 
00085             std::vector<State*> states;
00086 
00087         private:
00088 
00090             mutable unsigned int samplePosition;
00091 
00093             void freeMemory(void);
00094 
00095         };
00096 
00097     }
00098 }
00099 
00100 #endif