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 {
00041 
00043 class GoalSampleableRegionMux : public ompl::base::GoalSampleableRegion
00044 {
00045 public:
00046 
00049   GoalSampleableRegionMux(const std::vector<ompl::base::GoalPtr> &goals);
00050 
00051   virtual ~GoalSampleableRegionMux()
00052   {
00053   }
00054 
00056   virtual void sampleGoal(ompl::base::State *st) const;
00057 
00059   virtual unsigned int maxSampleCount() const;
00060 
00062   virtual bool canSample() const;
00063 
00065   virtual bool couldSample() const;
00066   
00068   virtual bool isSatisfied(const ompl::base::State *st, double *distance) const;
00069 
00071   virtual double distanceGoal(const ompl::base::State *st) const;
00072 
00074   void startSampling();
00075 
00077   void stopSampling();
00078   
00080   virtual void print(std::ostream &out = std::cout) const;
00081 
00082 protected:
00083 
00084   std::vector<ompl::base::GoalPtr> goals_;
00085   mutable unsigned int             gindex_;
00086 };
00087 
00088 }


ompl
Author(s): Ioan Sucan
autogenerated on Wed Sep 16 2015 04:42:27