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<title>OMPL: ompl::base::GoalRegion Class Reference</title>
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<li class="navelem"><a class="el" href="classompl_1_1base_1_1GoalRegion.html">GoalRegion</a> </li>
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<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">ompl::base::GoalRegion Class Reference</div> </div>
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<!-- doxytag: class="ompl::base::GoalRegion" --><!-- doxytag: inherits="ompl::base::Goal" -->
<p>Definition of a goal region.
<a href="classompl_1_1base_1_1GoalRegion.html#details">More...</a></p>
<p><code>#include <<a class="el" href="GoalRegion_8h_source.html">GoalRegion.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::base::GoalRegion:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1base_1_1GoalRegion__inherit__graph.png" border="0" usemap="#ompl_1_1base_1_1GoalRegion_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1base_1_1GoalRegion_inherit__map" id="ompl_1_1base_1_1GoalRegion_inherit__map">
<area shape="rect" id="node5" href="classompl_1_1base_1_1GoalSampleableRegion.html" title="Abstract definition of a goal region that can be sampled." alt="" coords="56,160,285,189"/><area shape="rect" id="node2" href="classompl_1_1base_1_1Goal.html" title="Abstract definition of goals. Will contain solutions, if found." alt="" coords="111,5,231,35"/><area shape="rect" id="node7" href="classompl_1_1base_1_1GoalState.html" title="Definition of a goal state." alt="" coords="5,237,157,267"/><area shape="rect" id="node9" href="classompl_1_1base_1_1GoalStates.html" title="Definition of a set of goal states." alt="" coords="181,237,339,267"/><area shape="rect" id="node11" href="classompl_1_1base_1_1GoalLazySamples.html" title="Definition of a goal region that can be sampled, but the sampling process can be slow. This class allows sampling the happen in a separate thread, and the number of goals may increase, as the planner is running, in a thread-safe manner." alt="" coords="160,315,360,344"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1base_1_1GoalRegion-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8582e4a9183af6341efeec3a3d52e91b"></a><!-- doxytag: member="ompl::base::GoalRegion::GoalRegion" ref="a8582e4a9183af6341efeec3a3d52e91b" args="(const SpaceInformationPtr &si)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1GoalRegion.html#a8582e4a9183af6341efeec3a3d52e91b">GoalRegion</a> (const <a class="el" href="classompl_1_1base_1_1SpaceInformationPtr.html">SpaceInformationPtr</a> &si)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Create a goal region. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a63180f3c2e53eb6feedae905cb858f39"></a><!-- doxytag: member="ompl::base::GoalRegion::isSatisfied" ref="a63180f3c2e53eb6feedae905cb858f39" args="(const State *st) const " -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1GoalRegion.html#a63180f3c2e53eb6feedae905cb858f39">isSatisfied</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *st) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Equivalent to calling isSatisfied(const State *, double *) with a NULL second argument. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7d6ee3fbc03fe16a55da3b4b4c07dbca"></a><!-- doxytag: member="ompl::base::GoalRegion::isSatisfied" ref="a7d6ee3fbc03fe16a55da3b4b4c07dbca" args="(const State *st, double *distance) const " -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1GoalRegion.html#a7d6ee3fbc03fe16a55da3b4b4c07dbca">isSatisfied</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *st, double *distance) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Decide whether a given state is part of the goal region. Returns true if the distance to goal is less than the threshold (using <a class="el" href="classompl_1_1base_1_1GoalRegion.html#a4c7a9ab388d762c76711790af0ba53ea" title="Compute the distance to the goal (heuristic). This function is the one used in computing the distance...">distanceGoal()</a>) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4c7a9ab388d762c76711790af0ba53ea"></a><!-- doxytag: member="ompl::base::GoalRegion::distanceGoal" ref="a4c7a9ab388d762c76711790af0ba53ea" args="(const State *st) const =0" -->
virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1GoalRegion.html#a4c7a9ab388d762c76711790af0ba53ea">distanceGoal</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *st) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute the distance to the goal (heuristic). This function is the one used in computing the distance to the goal in a call to <a class="el" href="classompl_1_1base_1_1GoalRegion.html#a63180f3c2e53eb6feedae905cb858f39" title="Equivalent to calling isSatisfied(const State *, double *) with a NULL second argument.">isSatisfied()</a> <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a270e456a2c866bb7fd1e3583607a9687"></a><!-- doxytag: member="ompl::base::GoalRegion::print" ref="a270e456a2c866bb7fd1e3583607a9687" args="(std::ostream &out=std::cout) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1GoalRegion.html#a270e456a2c866bb7fd1e3583607a9687">print</a> (std::ostream &out=std::cout) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Print information about the goal data structure to a stream. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a66faea81767a0772924082816b88e63f"></a><!-- doxytag: member="ompl::base::GoalRegion::setThreshold" ref="a66faea81767a0772924082816b88e63f" args="(double threshold)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1GoalRegion.html#a66faea81767a0772924082816b88e63f">setThreshold</a> (double threshold)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the distance to the goal that is allowed for a state to be considered in the goal region. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab68968d615daa3e191409fa58080269a"></a><!-- doxytag: member="ompl::base::GoalRegion::getThreshold" ref="ab68968d615daa3e191409fa58080269a" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1GoalRegion.html#ab68968d615daa3e191409fa58080269a">getThreshold</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the distance to the goal that is allowed for a state to be considered in the goal region. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2f7fad7260906a91d4f59f39b1d96199"></a><!-- doxytag: member="ompl::base::GoalRegion::threshold_" ref="a2f7fad7260906a91d4f59f39b1d96199" args="" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1GoalRegion.html#a2f7fad7260906a91d4f59f39b1d96199">threshold_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The maximum distance that is allowed to the goal. By default, this is initialized to the minimum epsilon value a double can represent. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Definition of a goal region. </p>
<p>Definition at line <a class="el" href="GoalRegion_8h_source.html#l00050">50</a> of file <a class="el" href="GoalRegion_8h_source.html">GoalRegion.h</a>.</p>
</div><hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/base/<a class="el" href="GoalRegion_8h_source.html">GoalRegion.h</a></li>
<li>src/ompl/base/src/<a class="el" href="GoalRegion_8cpp_source.html">GoalRegion.cpp</a></li>
</ul>
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