base::GoalRegion Class Reference

Definition of a goal region. More...

#include <ompl/base/goals/GoalRegion.h>

Inheritance diagram for base::GoalRegion:

List of all members.

Public Member Functions

 GoalRegion (const SpaceInformationPtr &si)
 Create a goal region.
virtual bool isSatisfied (const State *st) const
 Equivalent to calling isSatisfied(const State *, double *) with a NULL second argument.
virtual bool isSatisfied (const State *st, double *distance) const
 Decide whether a given state is part of the goal region. Returns true if the distance to goal is less than the threshold (using distanceGoal())
virtual double distanceGoal (const State *st) const =0
 Compute the distance to the goal (heuristic). This function is the one used in computing the distance to the goal in a call to isSatisfied()
virtual void print (std::ostream &out=std::cout) const
 Print information about the goal data structure to a stream.
void setThreshold (double threshold)
 Set the distance to the goal that is allowed for a state to be considered in the goal region.
double getThreshold () const
 Get the distance to the goal that is allowed for a state to be considered in the goal region.

Protected Attributes

double threshold_
 The maximum distance that is allowed to the goal. By default, this is initialized to the minimum epsilon value a double can represent.

Detailed Description

Definition of a goal region.

Definition at line 50 of file GoalRegion.h.


The documentation for this class was generated from the following files:
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