Goal.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_GOAL_
#define OMPL_BASE_GOAL_

#include "ompl/base/State.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/Path.h"
#include "ompl/util/ClassForward.h"
#include <iostream>
#include <boost/noncopyable.hpp>
#include <boost/concept_check.hpp>

namespace ompl
{
    namespace base
    {

        ClassForward(Goal);

        class Goal : private boost::noncopyable
        {
        public:

            Goal(const SpaceInformationPtr &si);

            virtual ~Goal(void)
            {
            }

            template<class T>
            T* as(void)
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T*, Goal*>));

                return static_cast<T*>(this);
            }

            template<class T>
            const T* as(void) const
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T*, Goal*>));

                return static_cast<const T*>(this);
            }

            const SpaceInformationPtr& getSpaceInformation(void) const
            {
                return si_;
            }

            virtual bool isSatisfied(const State *st) const = 0;

            virtual bool isSatisfied(const State *st, double *distance) const;

            bool isSatisfied(const State *st, double pathLength, double *distance) const;

            virtual bool isStartGoalPairValid(const State * /* start */, const State * /* goal */) const
            {
                return true;
            }

            bool isAchieved(void) const
            {
                return path_;
            }

            double getMaximumPathLength(void) const
            {
                return maximumPathLength_;
            }

            void setMaximumPathLength(double maximumPathLength)
            {
                maximumPathLength_ = maximumPathLength;
            }

            const PathPtr& getSolutionPath(void) const
            {
                return path_;
            }

            void setSolutionPath(const PathPtr &path, bool approximate = false)
            {
                path_ = path;
                approximate_ = approximate;
            }

            void clearSolutionPath(void)
            {
                path_.reset();
            }

            double getDifference(void) const
            {
                return difference_;
            }

            void setDifference(double difference)
            {
                difference_ = difference;
            }

            bool isApproximate(void) const
            {
                return approximate_;
            }

            virtual void print(std::ostream &out = std::cout) const
            {
                out << "Goal memory address " << this << std::endl;
            }

        protected:

            SpaceInformationPtr      si_;

            double                   maximumPathLength_;

            PathPtr                  path_;

            double                   difference_;

            bool                     approximate_;

        };

    }
}

#endif

---

ompl
Author(s): Ioan Sucan/isucan@rice.edu, Mark Moll/mmoll@rice.edu, Lydia Kavraki/kavraki@rice.edu
autogenerated on Fri Jan 11 09:33:19 2013