base::GoalStates Class Reference

Definition of a set of goal states. More...

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

Inheritance diagram for base::GoalStates:

List of all members.

Public Member Functions

 GoalStates (const SpaceInformationPtr &si)
 Create a goal representation that is in fact a set of states.
virtual void sampleGoal (State *st) const
 Sample a state in the goal region.
virtual unsigned int maxSampleCount () const
 Return the maximum number of samples that can be asked for before repeating.
virtual double distanceGoal (const State *st) const
 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.
virtual void addState (const State *st)
 Add a goal state.
void addState (const ScopedState<> &st)
 Add a goal state (calls the previous definition of addState())
virtual void clear ()
 Clear all goal states.
virtual bool hasStates () const
 Check if there are any states in this goal region.
virtual const StategetState (unsigned int index) const
 Return a pointer to the indexth state in the state list.
virtual std::size_t getStateCount () const
 Return the number of valid goal states.

Protected Attributes

std::vector< State * > states_
 The goal states. Only ones that are valid are considered by the motion planner.

Detailed Description

Definition of a set of goal states.

Definition at line 50 of file GoalStates.h.


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