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GoalSampleableRegion.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_GOALS_GOAL_SAMPLEABLE_REGION_
38 #define OMPL_BASE_GOALS_GOAL_SAMPLEABLE_REGION_
39 
40 #include "ompl/base/goals/GoalRegion.h"
41 
42 namespace ompl
43 {
44 
45  namespace base
46  {
47 
50  {
51  public:
52 
55  {
57  }
58 
59  virtual ~GoalSampleableRegion(void)
60  {
61  }
62 
64  virtual void sampleGoal(State *st) const = 0;
65 
67  virtual unsigned int maxSampleCount(void) const = 0;
68 
70  bool canSample(void) const
71  {
72  return maxSampleCount() > 0;
73  }
74 
78  virtual bool couldSample(void) const
79  {
80  return canSample();
81  }
82 
83  };
84 
85  }
86 }
87 
88 #endif