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Goal.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_GOAL_
38 #define OMPL_BASE_GOAL_
39 
40 #include "ompl/base/State.h"
41 #include "ompl/base/SpaceInformation.h"
42 #include "ompl/util/ClassForward.h"
43 #include "ompl/base/GoalTypes.h"
44 #include "ompl/util/Console.h"
45 #include <iostream>
46 #include <boost/noncopyable.hpp>
47 #include <boost/concept_check.hpp>
48 #include <vector>
49 
50 namespace ompl
51 {
52  namespace base
53  {
55 
56  ClassForward(Goal);
58 
63  class Goal : private boost::noncopyable
64  {
65  public:
66 
68  Goal(const SpaceInformationPtr &si);
69 
71  virtual ~Goal(void)
72  {
73  }
74 
76  template<class T>
77  T* as(void)
78  {
80  BOOST_CONCEPT_ASSERT((boost::Convertible<T*, Goal*>));
81 
82  return static_cast<T*>(this);
83  }
84 
86  template<class T>
87  const T* as(void) const
88  {
90  BOOST_CONCEPT_ASSERT((boost::Convertible<T*, Goal*>));
91 
92  return static_cast<const T*>(this);
93  }
94 
96  GoalType getType(void) const
97  {
98  return type_;
99  }
100 
102  bool hasType(GoalType type) const
103  {
104  return (type_ & type) == type;
105  }
106 
109  {
110  return si_;
111  }
112 
115  virtual bool isSatisfied(const State *st) const = 0;
116 
128  virtual bool isSatisfied(const State *st, double *distance) const;
129 
139  bool isSatisfied(const State *st, double pathLength, double *distance) const;
140 
147  virtual bool isStartGoalPairValid(const State * /* start */, const State * /* goal */) const
148  {
149  return true;
150  }
151 
153  double getMaximumPathLength(void) const
154  {
155  return maximumPathLength_;
156  }
157 
163  void setMaximumPathLength(double maximumPathLength)
164  {
165  maximumPathLength_ = maximumPathLength;
166  }
167 
169  bool isPathLengthSatisfied(double pathLength) const
170  {
171  return pathLength <= maximumPathLength_;
172  }
173 
175  virtual void print(std::ostream &out = std::cout) const;
176 
177  protected:
178 
181 
184 
187  };
188 
189  }
190 }
191 
192 #endif