Program Listing for File GoalSpace.h

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/* Author: Jonathan Gammell */

#ifndef OMPL_BASE_GOALS_GOAL_SPACE_
#define OMPL_BASE_GOALS_GOAL_SPACE_

#include "ompl/base/goals/GoalSampleableRegion.h"
#include "ompl/base/StateSpace.h"

namespace ompl
{
    namespace base
    {
        class GoalSpace : public GoalSampleableRegion
        {
        public:
            GoalSpace(const SpaceInformationPtr &si) : GoalSampleableRegion(si)
            {
                type_ = GOAL_SAMPLEABLE_REGION;
            }

            ~GoalSpace() override;

            void sampleGoal(State *st) const override;

            unsigned int maxSampleCount() const override;

            double distanceGoal(const State *st) const override;

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

            void setSpace(const StateSpacePtr space);

            StateSpacePtr getSpace() const;

        protected:
            StateSpacePtr goalSpace_;

            StateSamplerPtr goalSampler_;
        };
    }
}

#endif