Program Listing for File GoalStates.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_GOALS_GOAL_STATES_
#define OMPL_BASE_GOALS_GOAL_STATES_

#include "ompl/base/goals/GoalSampleableRegion.h"
#include "ompl/base/ScopedState.h"
#include <vector>

namespace ompl
{
    namespace base
    {
        class GoalStates : public GoalSampleableRegion
        {
        public:
            GoalStates(const SpaceInformationPtr &si) : GoalSampleableRegion(si), samplePosition_(0)
            {
                type_ = GOAL_STATES;
            }

            ~GoalStates() 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;

            virtual void addState(const State *st);

            void addState(const ScopedState<> &st);

            virtual void clear();

            virtual bool hasStates() const;

            virtual const State *getState(unsigned int index) const;

            virtual std::size_t getStateCount() const;

        protected:
            std::vector<State *> states_;

        private:
            mutable unsigned int samplePosition_;

            void freeMemory();
        };
    }
}

#endif