Program Listing for File GoalRegion.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_GOALS_GOAL_REGION_
#define OMPL_BASE_GOALS_GOAL_REGION_

#include "ompl/base/Goal.h"

namespace ompl
{
    namespace base
    {
        class GoalRegion : public Goal
        {
        public:
            GoalRegion(const SpaceInformationPtr &si);

            ~GoalRegion() override = default;

            bool isSatisfied(const State *st) const override;

            bool isSatisfied(const State *st, double *distance) const override;

            virtual double distanceGoal(const State *st) const = 0;

            void print(std::ostream &out = std::cout) const override;

            void setThreshold(double threshold)
            {
                threshold_ = threshold;
            }

            double getThreshold() const
            {
                return threshold_;
            }

        protected:
            double threshold_;
        };
    }
}

#endif