Loading...
Searching...
No Matches
GoalStates.h
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2010, Rice University
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the Rice University nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_BASE_GOALS_GOAL_STATES_
38#define OMPL_BASE_GOALS_GOAL_STATES_
39
40#include "ompl/base/goals/GoalSampleableRegion.h"
41#include "ompl/base/ScopedState.h"
42#include <vector>
43
44namespace ompl
45{
46 namespace base
47 {
50 {
51 public:
53 GoalStates(const SpaceInformationPtr &si) : GoalSampleableRegion(si), samplePosition_(0)
54 {
56 }
57
58 ~GoalStates() override;
59
60 void sampleGoal(State *st) const override;
61
62 unsigned int maxSampleCount() const override;
63
64 double distanceGoal(const State *st) const override;
65
66 void print(std::ostream &out = std::cout) const override;
67
69 virtual void addState(const State *st);
70
72 void addState(const ScopedState<> &st);
73
75 virtual void clear();
76
78 virtual bool hasStates() const;
79
81 virtual const State *getState(unsigned int index) const;
82
84 virtual std::size_t getStateCount() const;
85
86 protected:
88 std::vector<State *> states_;
89
90 private:
92 mutable unsigned int samplePosition_;
93
95 void freeMemory();
96 };
97 }
98}
99
100#endif
Abstract definition of a goal region that can be sampled.
Definition of a set of goal states.
Definition: GoalStates.h:50
double distanceGoal(const State *st) const override
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
Definition: GoalStates.cpp:59
virtual bool hasStates() const
Check if there are any states in this goal region.
Definition: GoalStates.cpp:122
unsigned int maxSampleCount() const override
Return the maximum number of samples that can be asked for before repeating.
Definition: GoalStates.cpp:94
std::vector< State * > states_
The goal states. Only ones that are valid are considered by the motion planner.
Definition: GoalStates.h:88
virtual std::size_t getStateCount() const
Return the number of valid goal states.
Definition: GoalStates.cpp:117
virtual void addState(const State *st)
Add a goal state.
Definition: GoalStates.cpp:99
void sampleGoal(State *st) const override
Sample a state in the goal region.
Definition: GoalStates.cpp:81
void print(std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.
Definition: GoalStates.cpp:71
virtual void clear()
Clear all goal states.
Definition: GoalStates.cpp:47
GoalStates(const SpaceInformationPtr &si)
Create a goal representation that is in fact a set of states
Definition: GoalStates.h:53
virtual const State * getState(unsigned int index) const
Return a pointer to the indexth state in the state list.
Definition: GoalStates.cpp:109
GoalType type_
Goal type.
Definition: Goal.h:146
Definition of a scoped state.
Definition: ScopedState.h:57
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:50
@ GOAL_STATES
This bit is set if casting to goal states (ompl::base::GoalStates) is possible.
Definition: GoalTypes.h:62
Main namespace. Contains everything in this library.