OMPL: ompl::base::GoalRegion Class Reference

Definition of a goal region. More...

#include <GoalRegion.h>

Inheritance diagram for ompl::base::GoalRegion:

Public Member Functions
	GoalRegion (const SpaceInformationPtr &si)
	Create a goal region.
virtual bool	isSatisfied (const State *st) const
	Equivalent to calling isSatisfied(const State , double ) with a NULL second argument.
virtual bool	isSatisfied (const State st, double distance) const
	Decide whether a given state is part of the goal region. Returns true if the distance to goal is less than the threshold (using distanceGoal())
virtual double	distanceGoal (const State *st) const =0
	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.
void	setThreshold (double threshold)
	Set the distance to the goal that is allowed for a state to be considered in the goal region.
double	getThreshold (void) const
	Get the distance to the goal that is allowed for a state to be considered in the goal region.
Protected Attributes
double	threshold_
	The maximum distance that is allowed to the goal. By default, this is initialized to the minimum epsilon value a double can represent.

Detailed Description

Definition of a goal region.

Definition at line 50 of file GoalRegion.h.

The documentation for this class was generated from the following files: