ompl/base/goals/GoalStates.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_GOALS_GOAL_STATES_
00038 #define OMPL_BASE_GOALS_GOAL_STATES_
00039 
00040 #include "ompl/base/goals/GoalSampleableRegion.h"
00041 #include "ompl/base/ScopedState.h"
00042 #include <vector>
00043 
00044 namespace ompl
00045 {
00046     namespace base
00047     {
00048 
00050         class GoalStates : public GoalSampleableRegion
00051         {
00052         public:
00053 
00055             GoalStates(const SpaceInformationPtr &si) : GoalSampleableRegion(si), samplePosition_(0)
00056             {
00057                 type_ = GOAL_STATES;
00058             }
00059 
00060             virtual ~GoalStates();
00061 
00062             virtual void sampleGoal(State *st) const;
00063 
00064             virtual unsigned int maxSampleCount() const;
00065 
00066             virtual double distanceGoal(const State *st) const;
00067 
00068             virtual void print(std::ostream &out = std::cout) const;
00069 
00071             virtual void addState(const State *st);
00072 
00074             void addState(const ScopedState<> &st);
00075 
00077             virtual void clear();
00078 
00080             virtual bool hasStates() const;
00081 
00083             virtual const State* getState(unsigned int index) const;
00084 
00086             virtual std::size_t getStateCount() const;
00087 
00088         protected:
00089 
00091             std::vector<State*> states_;
00092 
00093         private:
00094 
00096             mutable unsigned int samplePosition_;
00097 
00099             void freeMemory();
00100 
00101         };
00102 
00103     }
00104 }
00105 
00106 #endif
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