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<div class="title">Goal.cpp</div> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">* Copyright (c) 2010, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">* are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">* with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#include "ompl/base/Goal.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include <limits></span>
<a name="l00039"></a>00039
<a name="l00040"></a><a class="code" href="classompl_1_1base_1_1Goal.html#aa32a9dcc9c62ab906eb89e3b6c4e04c7">00040</a> <a class="code" href="classompl_1_1base_1_1Goal.html#aa32a9dcc9c62ab906eb89e3b6c4e04c7" title="Constructor. The goal must always know the space information it is part of.">ompl::base::Goal::Goal</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::base::SpaceInformation.">SpaceInformationPtr</a> &si) :
<a name="l00041"></a>00041 type_(<a class="code" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a63728e6f4a505262163e918202bd1785" title="This bit is set if casting to generic goal regions (ompl::base::Goal) is possible. This bit shold always be set.">GOAL_ANY</a>), si_(si), maximumPathLength_(std::numeric_limits<double>::infinity()),
<a name="l00042"></a>00042 difference_(-1.0), approximate_(false)
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044 }
<a name="l00045"></a>00045
<a name="l00046"></a><a class="code" href="classompl_1_1base_1_1Goal.html#aa3a78aa896a1a7778e40c02f4e1d3d1d">00046</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1Goal.html#a02ba4ba487714cd4e8f67c9d4164d0ec" title="Return true if the state satisfies the goal constraints.">ompl::base::Goal::isSatisfied</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *st, <span class="keywordtype">double</span> *distance)<span class="keyword"> const</span>
<a name="l00047"></a>00047 <span class="keyword"></span>{
<a name="l00048"></a>00048 <span class="keywordflow">if</span> (distance != NULL)
<a name="l00049"></a>00049 *distance = std::numeric_limits<double>::max();
<a name="l00050"></a>00050 <span class="keywordflow">return</span> isSatisfied(st);
<a name="l00051"></a>00051 }
<a name="l00052"></a>00052
<a name="l00053"></a><a class="code" href="classompl_1_1base_1_1Goal.html#afc90703a426c2f44d2ced607df4f0aa6">00053</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1Goal.html#a02ba4ba487714cd4e8f67c9d4164d0ec" title="Return true if the state satisfies the goal constraints.">ompl::base::Goal::isSatisfied</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *st, <span class="keywordtype">double</span> pathLength, <span class="keywordtype">double</span> *distance)<span class="keyword"> const</span>
<a name="l00054"></a>00054 <span class="keyword"></span>{
<a name="l00055"></a>00055 <span class="keywordflow">if</span> (pathLength > maximumPathLength_)
<a name="l00056"></a>00056 {
<a name="l00057"></a>00057 <span class="keywordflow">if</span> (distance != NULL)
<a name="l00058"></a>00058 isSatisfied(st, distance);
<a name="l00059"></a>00059 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00060"></a>00060 }
<a name="l00061"></a>00061 <span class="keywordflow">else</span>
<a name="l00062"></a>00062 <span class="keywordflow">return</span> isSatisfied(st, distance);
<a name="l00063"></a>00063 }
</pre></div></div>
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