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<div class="title">GoalState.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) 2008, Willow Garage, Inc.</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 Willow Garage 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">*  &quot;AS IS&quot; 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 &quot;ompl/base/GoalState.h&quot;</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include &quot;ompl/base/SpaceInformation.h&quot;</span>
<a name="l00039"></a>00039 
<a name="l00040"></a>00040 ompl::base::GoalState::~GoalState(<span class="keywordtype">void</span>)
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042     <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1base_1_1GoalState.html#ad35d1a357b23dae86eb5e34f0cc92670" title="The goal state.">state</a>)
<a name="l00043"></a>00043         <a class="code" href="classompl_1_1base_1_1Goal.html#a2568592d1968413e2759564c4f6511b0" title="The space information for this goal.">si_</a>-&gt;freeState(<a class="code" href="classompl_1_1base_1_1GoalState.html#ad35d1a357b23dae86eb5e34f0cc92670" title="The goal state.">state</a>);
<a name="l00044"></a>00044 }
<a name="l00045"></a>00045 
<a name="l00046"></a><a class="code" href="classompl_1_1base_1_1GoalState.html#a262e31a793401d6d5d4494e51a76dde1">00046</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1GoalState.html#a262e31a793401d6d5d4494e51a76dde1" title="Compute the distance to the goal (heuristic)">ompl::base::GoalState::distanceGoal</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="keyword"> const</span>
<a name="l00047"></a>00047 <span class="keyword"></span>{
<a name="l00048"></a>00048     <span class="keywordflow">return</span> si_-&gt;distance(st, state);
<a name="l00049"></a>00049 }
<a name="l00050"></a>00050 
<a name="l00051"></a><a class="code" href="classompl_1_1base_1_1GoalState.html#a3e0d5ac8a1a29789f5b0ba59aae52728">00051</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1GoalState.html#a3e0d5ac8a1a29789f5b0ba59aae52728" title="Print information about the goal data structure to a stream.">ompl::base::GoalState::print</a>(std::ostream &amp;out)<span class="keyword"> const</span>
<a name="l00052"></a>00052 <span class="keyword"></span>{
<a name="l00053"></a>00053     out &lt;&lt; <span class="stringliteral">&quot;Goal state, threshold = &quot;</span> &lt;&lt; threshold_ &lt;&lt; <span class="stringliteral">&quot;, memory address = &quot;</span> &lt;&lt; <span class="keyword">this</span> &lt;&lt; <span class="stringliteral">&quot;, state = &quot;</span> &lt;&lt; std::endl;
<a name="l00054"></a>00054     si_-&gt;printState(state, out);
<a name="l00055"></a>00055 }
<a name="l00056"></a>00056 
<a name="l00057"></a><a class="code" href="classompl_1_1base_1_1GoalState.html#a55bf40a86bb1c74c3735d4c47516418e">00057</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1GoalState.html#a55bf40a86bb1c74c3735d4c47516418e" title="Sample a state in the goal region.">ompl::base::GoalState::sampleGoal</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *st)<span class="keyword"> const</span>
<a name="l00058"></a>00058 <span class="keyword"></span>{
<a name="l00059"></a>00059     si_-&gt;copyState(st, state);
<a name="l00060"></a>00060 }
<a name="l00061"></a>00061 
<a name="l00062"></a><a class="code" href="classompl_1_1base_1_1GoalState.html#acf194c1c19a5501661cdf962682cfa82">00062</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1GoalState.html#acf194c1c19a5501661cdf962682cfa82" title="Return the maximum number of samples that can be asked for before repeating.">ompl::base::GoalState::maxSampleCount</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00063"></a>00063 <span class="keyword"></span>{
<a name="l00064"></a>00064     <span class="keywordflow">return</span> 1;
<a name="l00065"></a>00065 }
<a name="l00066"></a>00066 
<a name="l00067"></a><a class="code" href="classompl_1_1base_1_1GoalState.html#a4ffb6cc48229964b4cc86066dda3e649">00067</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1GoalState.html#a4ffb6cc48229964b4cc86066dda3e649" title="Set the goal state.">ompl::base::GoalState::setState</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)
<a name="l00068"></a>00068 {
<a name="l00069"></a>00069     <span class="keywordflow">if</span> (state)
<a name="l00070"></a>00070         si_-&gt;freeState(state);
<a name="l00071"></a>00071     state = si_-&gt;cloneState(st);
<a name="l00072"></a>00072 }
<a name="l00073"></a>00073 
<a name="l00074"></a><a class="code" href="classompl_1_1base_1_1GoalState.html#a8217875a352e3e9c8ed0de422d60ae9d">00074</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1GoalState.html#a4ffb6cc48229964b4cc86066dda3e649" title="Set the goal state.">ompl::base::GoalState::setState</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">ScopedState&lt;&gt;</a> &amp;st)
<a name="l00075"></a>00075 {
<a name="l00076"></a>00076     setState(st.<a class="code" href="classompl_1_1base_1_1ScopedState.html#afc13c57b8379540de664491aa7113c3a" title="Returns a pointer to the contained state.">get</a>());
<a name="l00077"></a>00077 }
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