ompl/base/goals/GoalState.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_GOALS_GOAL_STATE_
00038 #define OMPL_BASE_GOALS_GOAL_STATE_
00039 
00040 #include "ompl/base/goals/GoalSampleableRegion.h"
00041 #include "ompl/base/ScopedState.h"
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace base
00047     {
00048 
00050         class GoalState : public GoalSampleableRegion
00051         {
00052         public:
00053 
00055             GoalState(const SpaceInformationPtr &si) : GoalSampleableRegion(si), state_(NULL)
00056             {
00057                 type_ = GOAL_STATE;
00058             }
00059 
00060             virtual ~GoalState();
00061 
00063             virtual void sampleGoal(State *st) const;
00064 
00066             virtual unsigned int maxSampleCount() const;
00067 
00069             virtual double distanceGoal(const State *st) const;
00070 
00073             virtual void print(std::ostream &out = std::cout) const;
00074 
00076             void setState(const State *st);
00077 
00079             void setState(const ScopedState<> &st);
00080 
00082             const State* getState() const;
00083 
00085             State* getState();
00086 
00087         protected:
00088 
00090             State *state_;
00091         };
00092 
00093     }
00094 }
00095 
00096 #endif
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