ompl/base/goals/GoalRegion.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_GOALS_GOAL_REGION_
00038 #define OMPL_BASE_GOALS_GOAL_REGION_
00039 
00040 #include "ompl/base/Goal.h"
00041 
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace base
00047     {
00048 
00050         class GoalRegion : public Goal
00051         {
00052         public:
00053 
00055             GoalRegion(const SpaceInformationPtr &si);
00056 
00057             virtual ~GoalRegion()
00058             {
00059             }
00060 
00062             virtual bool isSatisfied(const State *st) const;
00063 
00067             virtual bool isSatisfied(const State *st, double *distance) const;
00068 
00073             virtual double distanceGoal(const State *st) const = 0;
00074 
00077             virtual void print(std::ostream &out = std::cout) const;
00078 
00081             void setThreshold(double threshold)
00082             {
00083                 threshold_ = threshold;
00084             }
00085 
00088             double getThreshold() const
00089             {
00090                 return threshold_;
00091             }
00092 
00093         protected:
00094 
00098             double threshold_;
00099         };
00100     }
00101 }
00102 
00103 #endif
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