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<div class="title">GoalStates.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">*  &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/GoalStates.h&quot;</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include &quot;ompl/base/SpaceInformation.h&quot;</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include &quot;ompl/util/Exception.h&quot;</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &lt;limits&gt;</span>
<a name="l00041"></a>00041 
<a name="l00042"></a>00042 ompl::base::GoalStates::~GoalStates(<span class="keywordtype">void</span>)
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044     freeMemory();
<a name="l00045"></a>00045 }
<a name="l00046"></a>00046 
<a name="l00047"></a><a class="code" href="classompl_1_1base_1_1GoalStates.html#a215641afe30c50665e5e7bde6894e65e">00047</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1GoalStates.html#a215641afe30c50665e5e7bde6894e65e" title="Clear all goal states.">ompl::base::GoalStates::clear</a>(<span class="keywordtype">void</span>)
<a name="l00048"></a>00048 {
<a name="l00049"></a>00049     freeMemory();
<a name="l00050"></a>00050     states.clear();
<a name="l00051"></a>00051 }
<a name="l00052"></a>00052 
<a name="l00053"></a>00053 <span class="keywordtype">void</span> ompl::base::GoalStates::freeMemory(<span class="keywordtype">void</span>)
<a name="l00054"></a>00054 {
<a name="l00055"></a>00055     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; states.size() ; ++i)
<a name="l00056"></a>00056         si_-&gt;freeState(states[i]);
<a name="l00057"></a>00057 }
<a name="l00058"></a>00058 
<a name="l00059"></a><a class="code" href="classompl_1_1base_1_1GoalStates.html#a7f630ce514a5b222e9c27232d3de6a10">00059</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1GoalStates.html#a7f630ce514a5b222e9c27232d3de6a10" title="Compute the distance to the goal (heuristic). This function is the one used in computing the distance...">ompl::base::GoalStates::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="l00060"></a>00060 <span class="keyword"></span>{
<a name="l00061"></a>00061     <span class="keywordtype">double</span> dist = std::numeric_limits&lt;double&gt;::infinity();
<a name="l00062"></a>00062     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; states.size() ; ++i)
<a name="l00063"></a>00063     {
<a name="l00064"></a>00064         <span class="keywordtype">double</span> d = si_-&gt;distance(st, states[i]);
<a name="l00065"></a>00065         <span class="keywordflow">if</span> (d &lt; dist)
<a name="l00066"></a>00066             dist = d;
<a name="l00067"></a>00067     }
<a name="l00068"></a>00068     <span class="keywordflow">return</span> dist;
<a name="l00069"></a>00069 }
<a name="l00070"></a>00070 
<a name="l00071"></a><a class="code" href="classompl_1_1base_1_1GoalStates.html#a0186d82ecb85de07b3f256c7643bfce8">00071</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1GoalStates.html#a0186d82ecb85de07b3f256c7643bfce8" title="Print information about the goal data structure to a stream.">ompl::base::GoalStates::print</a>(std::ostream &amp;out)<span class="keyword"> const</span>
<a name="l00072"></a>00072 <span class="keyword"></span>{
<a name="l00073"></a>00073     out &lt;&lt; states.size() &lt;&lt; <span class="stringliteral">&quot; goal states, 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; std::endl;
<a name="l00074"></a>00074     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; states.size() ; ++i)
<a name="l00075"></a>00075     {
<a name="l00076"></a>00076         si_-&gt;printState(states[i], out);
<a name="l00077"></a>00077         out &lt;&lt; std::endl;
<a name="l00078"></a>00078     }
<a name="l00079"></a>00079 }
<a name="l00080"></a>00080 
<a name="l00081"></a><a class="code" href="classompl_1_1base_1_1GoalStates.html#a0acc6095d25d837940f21e76bb9793ea">00081</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1GoalStates.html#a0acc6095d25d837940f21e76bb9793ea" title="Sample a state in the goal region.">ompl::base::GoalStates::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="l00082"></a>00082 <span class="keyword"></span>{
<a name="l00083"></a>00083     <span class="keywordflow">if</span> (states.empty())
<a name="l00084"></a>00084         <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">&quot;There are no goals to sample&quot;</span>);
<a name="l00085"></a>00085     si_-&gt;copyState(st, states[samplePosition]);
<a name="l00086"></a>00086     samplePosition = (samplePosition + 1) % states.size();
<a name="l00087"></a>00087 }
<a name="l00088"></a>00088 
<a name="l00089"></a><a class="code" href="classompl_1_1base_1_1GoalStates.html#a6c4f7e4a9b7648db8bde7ffe8ee8e7dc">00089</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1GoalStates.html#a6c4f7e4a9b7648db8bde7ffe8ee8e7dc" title="Return the maximum number of samples that can be asked for before repeating.">ompl::base::GoalStates::maxSampleCount</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00090"></a>00090 <span class="keyword"></span>{
<a name="l00091"></a>00091     <span class="keywordflow">return</span> states.size();
<a name="l00092"></a>00092 }
<a name="l00093"></a>00093 
<a name="l00094"></a><a class="code" href="classompl_1_1base_1_1GoalStates.html#a6cf378a86fd25680dfaa5b2446598d55">00094</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1GoalStates.html#a6cf378a86fd25680dfaa5b2446598d55" title="Add a goal state.">ompl::base::GoalStates::addState</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="l00095"></a>00095 {
<a name="l00096"></a>00096     states.push_back(si_-&gt;cloneState(st));
<a name="l00097"></a>00097 }
<a name="l00098"></a>00098 
<a name="l00099"></a><a class="code" href="classompl_1_1base_1_1GoalStates.html#af43dd0177bdc390dc3d98aab04003238">00099</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1GoalStates.html#a6cf378a86fd25680dfaa5b2446598d55" title="Add a goal state.">ompl::base::GoalStates::addState</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="l00100"></a>00100 {
<a name="l00101"></a>00101     addState(st.<a class="code" href="classompl_1_1base_1_1ScopedState.html#afc13c57b8379540de664491aa7113c3a" title="Returns a pointer to the contained state.">get</a>());
<a name="l00102"></a>00102 }
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