demos/Koules/KoulesGoal.h
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00034 
00035 /* Author: Beck Chen, Mark Moll */
00036 
00037 #ifndef DEMOS_KOULES_GOAL_
00038 #define DEMOS_KOULES_GOAL_
00039 
00040 #include <ompl/base/goals/GoalSampleableRegion.h>
00041 
00042 // Sampleable goal region for KoulesModel.
00043 class KoulesGoal : public ompl::base::GoalSampleableRegion
00044 {
00045 public:
00046     KoulesGoal(const ompl::base::SpaceInformationPtr &si)
00047         : ompl::base::GoalSampleableRegion(si), stateSampler_(si->allocStateSampler())
00048     {
00049         threshold_ = 0.01;
00050     }
00051 
00052     // number of "live" koules plus the shortest distance between any live koule and an edge
00053     virtual double distanceGoal(const ompl::base::State *st) const;
00054     // pick a random state where each koule is on the edge of the workspace
00055     virtual void sampleGoal(ompl::base::State *st) const;
00056     virtual unsigned int maxSampleCount(void) const
00057     {
00058         return 100;
00059     }
00060 
00061 
00062 private:
00063     mutable ompl::RNG rng_;
00064     ompl::base::StateSamplerPtr stateSampler_;
00065 };
00066 
00067 #endif
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