GoalState.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/base/goals/GoalState.h"
38#include "ompl/base/SpaceInformation.h"
39
40ompl::base::GoalState::~GoalState()
41{
42 if (state_ != nullptr)
43 si_->freeState(state_);
44}
45
47{
48 return si_->distance(st, state_);
49}
50
51void ompl::base::GoalState::print(std::ostream &out) const
52{
53 out << "Goal state, threshold = " << threshold_ << ", memory address = " << this << ", state = " << std::endl;
54 si_->printState(state_, out);
55}
56
58{
59 si_->copyState(st, state_);
60}
61
63{
64 return 1;
65}
66
68{
69 if (state_ != nullptr)
70 si_->freeState(state_);
71 state_ = si_->cloneState(st);
72}
73
75{
76 setState(st.get());
77}
78
80{
81 return state_;
82}
83
85{
86 return state_;
87}
unsigned int maxSampleCount() const override
Return the maximum number of samples that can be asked for before repeating.
Definition: GoalState.cpp:62
void setState(const State *st)
Set the goal state.
Definition: GoalState.cpp:67
const State * getState() const
Get the goal state.
Definition: GoalState.cpp:79
void setState(const ScopedState<> &st)
Set the goal state.
Definition: GoalState.cpp:74
void sampleGoal(State *st) const override
Sample a state in the goal region.
Definition: GoalState.cpp:57
double distanceGoal(const State *st) const override
Compute the distance to the goal (heuristic)
Definition: GoalState.cpp:46
void print(std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.
Definition: GoalState.cpp:51
State * state_
The goal state.
Definition: GoalState.h:86
SpaceInformationPtr si_
The space information for this goal.
Definition: Goal.h:149
Definition of a scoped state.
Definition: ScopedState.h:57
StateType * get()
Returns a pointer to the contained state.
Definition: ScopedState.h:393
Definition of an abstract state.
Definition: State.h:50