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GoalSpace.cpp
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34
35/* Author: Jonathan Gammell */
36
37#include "ompl/base/goals/GoalSpace.h"
38#include <limits>
39
40ompl::base::GoalSpace::~GoalSpace()
41{
42}
43
45{
46 goalSampler_->sampleUniform(st);
47}
48
50{
51 return std::numeric_limits<unsigned int>::max();
52}
53
55{
56 // Short circuit distance calculation if satisfied.
57 if (goalSpace_->satisfiesBounds(st))
58 {
59 return 0.0;
60 }
61 // Else, do the work
62
63 // Allocate a new state as a copy of the query
64 State *proj = si_->allocState();
65 si_->copyState(proj, st);
66
67 // Bring the copy into the bounds of the goal
68 goalSpace_->enforceBounds(proj);
69
70 // Calculate the distance between those two states
71 double dist = si_->distance(st, proj);
72
73 // Free the copied projection
74 si_->freeState(proj);
75
76 // Return the distance
77 return dist;
78}
79
80void ompl::base::GoalSpace::print(std::ostream &out) const
81{
82 out << "Goal space, threshold = " << threshold_ << ", memory address = " << this << ", volume = " << goalSpace_->getMeasure() << std::endl;
83}
84
86{
87 if (space->getType() != si_->getStateSpace()->getType())
88 {
89 OMPL_ERROR("GoalSpace: The specified goal space must be the same type as the problem space.");
90 }
91
92 goalSpace_ = space;
93 goalSampler_ = goalSpace_->allocStateSampler();
94}
95
97{
98 return goalSpace_;
99}
void sampleGoal(State *st) const override
Sample a state in the goal region.
Definition GoalSpace.cpp:44
unsigned int maxSampleCount() const override
Return the maximum number of samples that can be asked for before repeating.
Definition GoalSpace.cpp:49
double distanceGoal(const State *st) const override
Compute the distance to the goal (heuristic)
Definition GoalSpace.cpp:54
void print(std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.
Definition GoalSpace.cpp:80
StateSpacePtr getSpace() const
Get the goal space.
Definition GoalSpace.cpp:96
void setSpace(const StateSpacePtr space)
Set the goal space.
Definition GoalSpace.cpp:85
A shared pointer wrapper for ompl::base::StateSpace.
Definition of an abstract state.
Definition State.h:50
#define OMPL_ERROR(fmt,...)
Log a formatted error string.
Definition Console.h:64