ompl/base/goals/GoalSampleableRegion.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_GOALS_GOAL_SAMPLEABLE_REGION_
00038 #define OMPL_BASE_GOALS_GOAL_SAMPLEABLE_REGION_
00039 
00040 #include "ompl/base/goals/GoalRegion.h"
00041 
00042 namespace ompl
00043 {
00044 
00045     namespace base
00046     {
00047 
00049         class GoalSampleableRegion : public GoalRegion
00050         {
00051         public:
00052 
00054             GoalSampleableRegion(const SpaceInformationPtr &si) : GoalRegion(si)
00055             {
00056                 type_ = GOAL_SAMPLEABLE_REGION;
00057             }
00058 
00059             virtual ~GoalSampleableRegion()
00060             {
00061             }
00062 
00064             virtual void sampleGoal(State *st) const = 0;
00065 
00067             virtual unsigned int maxSampleCount() const = 0;
00068 
00070             bool canSample() const
00071             {
00072                 return maxSampleCount() > 0;
00073             }
00074 
00078             virtual bool couldSample() const
00079             {
00080                 return canSample();
00081             }
00082 
00083         };
00084 
00085     }
00086 }
00087 
00088 #endif
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