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Sophie

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ompl-devel-0.9.5-1.fc14.i686.rpm

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<div class="title">Goal.h</div>  </div>
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<div class="contents">
<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">#ifndef OMPL_BASE_GOAL_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_BASE_GOAL_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/base/State.h&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &quot;ompl/base/SpaceInformation.h&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &quot;ompl/base/Path.h&quot;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &quot;ompl/util/ClassForward.h&quot;</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include &quot;ompl/base/GoalTypes.h&quot;</span>
<a name="l00045"></a>00045 <span class="preprocessor">#include &lt;iostream&gt;</span>
<a name="l00046"></a>00046 <span class="preprocessor">#include &lt;boost/noncopyable.hpp&gt;</span>
<a name="l00047"></a>00047 <span class="preprocessor">#include &lt;boost/concept_check.hpp&gt;</span>
<a name="l00048"></a>00048 
<a name="l00049"></a>00049 <span class="keyword">namespace </span>ompl
<a name="l00050"></a>00050 {
<a name="l00051"></a>00051     <span class="keyword">namespace </span>base
<a name="l00052"></a>00052     {
<a name="l00053"></a>00053 
<a name="l00055"></a>00055         <a class="code" href="namespaceompl_1_1base.html#a746ce4d50a7f41d386a33d2a9ed069f8" title="Forward declaration of ompl::base::Goal.">ClassForward</a>(Goal);
<a name="l00056"></a>00056 
<a name="l00061"></a><a class="code" href="classompl_1_1base_1_1Goal.html">00061</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1Goal.html" title="Abstract definition of goals. Will contain solutions, if found.">Goal</a> : <span class="keyword">private</span> boost::noncopyable
<a name="l00062"></a>00062         {
<a name="l00063"></a>00063         <span class="keyword">public</span>:
<a name="l00064"></a>00064 
<a name="l00066"></a>00066             <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.">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> &amp;si);
<a name="l00067"></a>00067 
<a name="l00069"></a><a class="code" href="classompl_1_1base_1_1Goal.html#a0b3c267935f7a201823afee5e8da7b92">00069</a>             <span class="keyword">virtual</span> <a class="code" href="classompl_1_1base_1_1Goal.html#a0b3c267935f7a201823afee5e8da7b92" title="Destructor. Clears the solution as well.">~Goal</a>(<span class="keywordtype">void</span>)
<a name="l00070"></a>00070             {
<a name="l00071"></a>00071             }
<a name="l00072"></a>00072 
<a name="l00074"></a>00074             <span class="keyword">template</span>&lt;<span class="keyword">class</span> T&gt;
<a name="l00075"></a><a class="code" href="classompl_1_1base_1_1Goal.html#aea2db492c83aac0eb3720b2b2a9710c3">00075</a>             T* <a class="code" href="classompl_1_1base_1_1Goal.html#aea2db492c83aac0eb3720b2b2a9710c3" title="Cast this instance to a desired type.">as</a>(<span class="keywordtype">void</span>)
<a name="l00076"></a>00076             {
<a name="l00078"></a>00078                 BOOST_CONCEPT_ASSERT((boost::Convertible&lt;T*, Goal*&gt;));
<a name="l00079"></a>00079 
<a name="l00080"></a>00080                 <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span>T*<span class="keyword">&gt;</span>(<span class="keyword">this</span>);
<a name="l00081"></a>00081             }
<a name="l00082"></a>00082 
<a name="l00084"></a>00084             <span class="keyword">template</span>&lt;<span class="keyword">class</span> T&gt;
<a name="l00085"></a><a class="code" href="classompl_1_1base_1_1Goal.html#a48f856096f8ee2e05de11df986ad2d9f">00085</a>             <span class="keyword">const</span> T* <a class="code" href="classompl_1_1base_1_1Goal.html#aea2db492c83aac0eb3720b2b2a9710c3" title="Cast this instance to a desired type.">as</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00086"></a>00086 <span class="keyword">            </span>{
<a name="l00088"></a>00088                 BOOST_CONCEPT_ASSERT((boost::Convertible&lt;T*, Goal*&gt;));
<a name="l00089"></a>00089 
<a name="l00090"></a>00090                 <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keyword">const </span>T*<span class="keyword">&gt;</span>(<span class="keyword">this</span>);
<a name="l00091"></a>00091             }
<a name="l00092"></a>00092 
<a name="l00094"></a><a class="code" href="classompl_1_1base_1_1Goal.html#a04a7feefcb8700902b12805d434a8f4b">00094</a>             <a class="code" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55" title="The type of goal.">GoalType</a> <a class="code" href="classompl_1_1base_1_1Goal.html#a04a7feefcb8700902b12805d434a8f4b" title="Return the goal type.">getType</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00095"></a>00095 <span class="keyword">            </span>{
<a name="l00096"></a>00096                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1Goal.html#af5e22736c4d1335c4edf92d8c76eaa02" title="Goal type.">type_</a>;
<a name="l00097"></a>00097             }
<a name="l00098"></a>00098 
<a name="l00100"></a><a class="code" href="classompl_1_1base_1_1Goal.html#a72d63bac8cbeb4110fdfe93172c92209">00100</a>             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1Goal.html#a72d63bac8cbeb4110fdfe93172c92209" title="Check if this goal can be cast to a particular goal type.">hasType</a>(<a class="code" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55" title="The type of goal.">GoalType</a> type)<span class="keyword"> const</span>
<a name="l00101"></a>00101 <span class="keyword">            </span>{
<a name="l00102"></a>00102                 <span class="keywordflow">return</span> (<a class="code" href="classompl_1_1base_1_1Goal.html#af5e22736c4d1335c4edf92d8c76eaa02" title="Goal type.">type_</a> &amp; type) == type;
<a name="l00103"></a>00103             }
<a name="l00104"></a>00104 
<a name="l00106"></a><a class="code" href="classompl_1_1base_1_1Goal.html#ad8106bac6c0180b7ea430fe4312305fc">00106</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>&amp; <a class="code" href="classompl_1_1base_1_1Goal.html#ad8106bac6c0180b7ea430fe4312305fc" title="Get the space information this goal is for.">getSpaceInformation</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00107"></a>00107 <span class="keyword">            </span>{
<a name="l00108"></a>00108                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1Goal.html#a2568592d1968413e2759564c4f6511b0" title="The space information for this goal.">si_</a>;
<a name="l00109"></a>00109             }
<a name="l00110"></a>00110 
<a name="l00113"></a>00113             <span class="keyword">virtual</span> <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.">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="keyword">const</span> = 0;
<a name="l00114"></a>00114 
<a name="l00126"></a>00126             <span class="keyword">virtual</span> <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.">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="l00127"></a>00127 
<a name="l00137"></a>00137             <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.">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="l00138"></a>00138 
<a name="l00145"></a><a class="code" href="classompl_1_1base_1_1Goal.html#a5d5285908b7e09d61577279f35e47175">00145</a>             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1Goal.html#a5d5285908b7e09d61577279f35e47175" title="Since there can be multiple starting states (and multiple goal states) it is possible certain pairs a...">isStartGoalPairValid</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> * <span class="comment">/* start */</span>, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> * <span class="comment">/* goal */</span>)<span class="keyword"> const</span>
<a name="l00146"></a>00146 <span class="keyword">            </span>{
<a name="l00147"></a>00147                 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00148"></a>00148             }
<a name="l00149"></a>00149 
<a name="l00151"></a><a class="code" href="classompl_1_1base_1_1Goal.html#a9a6e44d33f848108d0beeb1cf7a6c1ad">00151</a>             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1Goal.html#a9a6e44d33f848108d0beeb1cf7a6c1ad" title="Returns true if a solution path has been found (could be approximate)">isAchieved</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00152"></a>00152 <span class="keyword">            </span>{
<a name="l00153"></a>00153                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1Goal.html#adadfb1776c3b6a5bc02dfd4d925b0a77" title="Solution path, if found.">path_</a>;
<a name="l00154"></a>00154             }
<a name="l00155"></a>00155 
<a name="l00157"></a><a class="code" href="classompl_1_1base_1_1Goal.html#a033696b98580c4be0694a878ef1e7bbb">00157</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1Goal.html#a033696b98580c4be0694a878ef1e7bbb" title="Get the maximum length allowed for a solution path.">getMaximumPathLength</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00158"></a>00158 <span class="keyword">            </span>{
<a name="l00159"></a>00159                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1Goal.html#a307993d7ed51565d703143143c0a60bb" title="The maximum length allowed for the solution path.">maximumPathLength_</a>;
<a name="l00160"></a>00160             }
<a name="l00161"></a>00161 
<a name="l00167"></a><a class="code" href="classompl_1_1base_1_1Goal.html#a19445b2688918bf9e402f3f9472a63df">00167</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1Goal.html#a19445b2688918bf9e402f3f9472a63df" title="Set the maximum length allowed for a solution path. This value is checked only in the version of isSa...">setMaximumPathLength</a>(<span class="keywordtype">double</span> maximumPathLength)
<a name="l00168"></a>00168             {
<a name="l00169"></a>00169                 <a class="code" href="classompl_1_1base_1_1Goal.html#a307993d7ed51565d703143143c0a60bb" title="The maximum length allowed for the solution path.">maximumPathLength_</a> = maximumPathLength;
<a name="l00170"></a>00170             }
<a name="l00171"></a>00171 
<a name="l00173"></a><a class="code" href="classompl_1_1base_1_1Goal.html#ab4beedc8edd881714081eb99b9b4ba34">00173</a>             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1Goal.html#ab4beedc8edd881714081eb99b9b4ba34" title="Check if pathLength is smaller than the value returned by getMaximumPathLength()">isPathLengthSatisfied</a>(<span class="keywordtype">double</span> pathLength)<span class="keyword"> const</span>
<a name="l00174"></a>00174 <span class="keyword">            </span>{
<a name="l00175"></a>00175                 <span class="keywordflow">return</span> pathLength &lt;= <a class="code" href="classompl_1_1base_1_1Goal.html#a307993d7ed51565d703143143c0a60bb" title="The maximum length allowed for the solution path.">maximumPathLength_</a>;
<a name="l00176"></a>00176             }
<a name="l00177"></a>00177 
<a name="l00182"></a><a class="code" href="classompl_1_1base_1_1Goal.html#ab15b334d24d37e52d21b76ef18eb9058">00182</a>             <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PathPtr.html" title="A boost shared pointer wrapper for ompl::base::Path.">PathPtr</a>&amp; <a class="code" href="classompl_1_1base_1_1Goal.html#ab15b334d24d37e52d21b76ef18eb9058" title="Return the found solution path.">getSolutionPath</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00183"></a>00183 <span class="keyword">            </span>{
<a name="l00184"></a>00184                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1Goal.html#adadfb1776c3b6a5bc02dfd4d925b0a77" title="Solution path, if found.">path_</a>;
<a name="l00185"></a>00185             }
<a name="l00186"></a>00186 
<a name="l00188"></a><a class="code" href="classompl_1_1base_1_1Goal.html#ade528c0fefb9094abc1a2d1518a5f860">00188</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1Goal.html#ade528c0fefb9094abc1a2d1518a5f860" title="Update the solution path. If a previous solution path exists, it is deleted.">setSolutionPath</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PathPtr.html" title="A boost shared pointer wrapper for ompl::base::Path.">PathPtr</a> &amp;path, <span class="keywordtype">bool</span> approximate = <span class="keyword">false</span>)
<a name="l00189"></a>00189             {
<a name="l00190"></a>00190                 <a class="code" href="classompl_1_1base_1_1Goal.html#adadfb1776c3b6a5bc02dfd4d925b0a77" title="Solution path, if found.">path_</a> = path;
<a name="l00191"></a>00191                 <a class="code" href="classompl_1_1base_1_1Goal.html#ac0635a0086076403e3f8d4960754f18b" title="True if goal was not achieved, but an approximate solution was found.">approximate_</a> = approximate;
<a name="l00192"></a>00192             }
<a name="l00193"></a>00193 
<a name="l00195"></a><a class="code" href="classompl_1_1base_1_1Goal.html#a56e614a15d3ddf7ce34b77ab1c4ea886">00195</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1Goal.html#a56e614a15d3ddf7ce34b77ab1c4ea886" title="Forget the solution path. Memory is freed.">clearSolutionPath</a>(<span class="keywordtype">void</span>)
<a name="l00196"></a>00196             {
<a name="l00197"></a>00197                 <a class="code" href="classompl_1_1base_1_1Goal.html#adadfb1776c3b6a5bc02dfd4d925b0a77" title="Solution path, if found.">path_</a>.reset();
<a name="l00198"></a>00198             }
<a name="l00199"></a>00199 
<a name="l00203"></a><a class="code" href="classompl_1_1base_1_1Goal.html#a5e982753bd3b279d244ea52acbcb8f19">00203</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1Goal.html#a5e982753bd3b279d244ea52acbcb8f19" title="If a difference between the desired solution and the solution found is computed by the planner...">getDifference</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00204"></a>00204 <span class="keyword">            </span>{
<a name="l00205"></a>00205                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1Goal.html#afae6a0a48dcc5083a8144da2d3d2c807" title="The achieved difference between the found solution and the desired goal.">difference_</a>;
<a name="l00206"></a>00206             }
<a name="l00207"></a>00207 
<a name="l00210"></a><a class="code" href="classompl_1_1base_1_1Goal.html#afbfc02ebac97049ebdd28d040ce44c37">00210</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1Goal.html#afbfc02ebac97049ebdd28d040ce44c37" title="Set the difference between the found solution path and the desired solution path.">setDifference</a>(<span class="keywordtype">double</span> difference)
<a name="l00211"></a>00211             {
<a name="l00212"></a>00212                 <a class="code" href="classompl_1_1base_1_1Goal.html#afae6a0a48dcc5083a8144da2d3d2c807" title="The achieved difference between the found solution and the desired goal.">difference_</a> = difference;
<a name="l00213"></a>00213             }
<a name="l00214"></a>00214 
<a name="l00218"></a><a class="code" href="classompl_1_1base_1_1Goal.html#a318d3b926915a1dc2cb2dcb9732ca3f4">00218</a>             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1Goal.html#a318d3b926915a1dc2cb2dcb9732ca3f4" title="Return true if the found solution is approximate (does not actually reach the desired goal...">isApproximate</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00219"></a>00219 <span class="keyword">            </span>{
<a name="l00220"></a>00220                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1Goal.html#ac0635a0086076403e3f8d4960754f18b" title="True if goal was not achieved, but an approximate solution was found.">approximate_</a>;
<a name="l00221"></a>00221             }
<a name="l00222"></a>00222 
<a name="l00224"></a><a class="code" href="classompl_1_1base_1_1Goal.html#a8a8a736012591d8b46138f09bd35bead">00224</a>             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1Goal.html#a8a8a736012591d8b46138f09bd35bead" title="Print information about the goal.">print</a>(std::ostream &amp;out = std::cout)<span class="keyword"> const</span>
<a name="l00225"></a>00225 <span class="keyword">            </span>{
<a name="l00226"></a>00226                 out &lt;&lt; <span class="stringliteral">&quot;Goal memory address &quot;</span> &lt;&lt; <span class="keyword">this</span> &lt;&lt; std::endl;
<a name="l00227"></a>00227             }
<a name="l00228"></a>00228 
<a name="l00229"></a>00229         <span class="keyword">protected</span>:
<a name="l00230"></a>00230 
<a name="l00232"></a><a class="code" href="classompl_1_1base_1_1Goal.html#af5e22736c4d1335c4edf92d8c76eaa02">00232</a>             <a class="code" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55" title="The type of goal.">GoalType</a>                 <a class="code" href="classompl_1_1base_1_1Goal.html#af5e22736c4d1335c4edf92d8c76eaa02" title="Goal type.">type_</a>;
<a name="l00233"></a>00233 
<a name="l00235"></a><a class="code" href="classompl_1_1base_1_1Goal.html#a2568592d1968413e2759564c4f6511b0">00235</a>             <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::base::SpaceInformation.">SpaceInformationPtr</a>      <a class="code" href="classompl_1_1base_1_1Goal.html#a2568592d1968413e2759564c4f6511b0" title="The space information for this goal.">si_</a>;
<a name="l00236"></a>00236 
<a name="l00238"></a><a class="code" href="classompl_1_1base_1_1Goal.html#a307993d7ed51565d703143143c0a60bb">00238</a>             <span class="keywordtype">double</span>                   <a class="code" href="classompl_1_1base_1_1Goal.html#a307993d7ed51565d703143143c0a60bb" title="The maximum length allowed for the solution path.">maximumPathLength_</a>;
<a name="l00239"></a>00239 
<a name="l00241"></a><a class="code" href="classompl_1_1base_1_1Goal.html#adadfb1776c3b6a5bc02dfd4d925b0a77">00241</a>             <a class="code" href="classompl_1_1base_1_1PathPtr.html" title="A boost shared pointer wrapper for ompl::base::Path.">PathPtr</a>                  <a class="code" href="classompl_1_1base_1_1Goal.html#adadfb1776c3b6a5bc02dfd4d925b0a77" title="Solution path, if found.">path_</a>;
<a name="l00242"></a>00242 
<a name="l00244"></a><a class="code" href="classompl_1_1base_1_1Goal.html#afae6a0a48dcc5083a8144da2d3d2c807">00244</a>             <span class="keywordtype">double</span>                   <a class="code" href="classompl_1_1base_1_1Goal.html#afae6a0a48dcc5083a8144da2d3d2c807" title="The achieved difference between the found solution and the desired goal.">difference_</a>;
<a name="l00245"></a>00245 
<a name="l00247"></a><a class="code" href="classompl_1_1base_1_1Goal.html#ac0635a0086076403e3f8d4960754f18b">00247</a>             <span class="keywordtype">bool</span>                     <a class="code" href="classompl_1_1base_1_1Goal.html#ac0635a0086076403e3f8d4960754f18b" title="True if goal was not achieved, but an approximate solution was found.">approximate_</a>;
<a name="l00248"></a>00248 
<a name="l00249"></a>00249         };
<a name="l00250"></a>00250 
<a name="l00251"></a>00251     }
<a name="l00252"></a>00252 }
<a name="l00253"></a>00253 
<a name="l00254"></a>00254 <span class="preprocessor">#endif</span>
</pre></div></div>
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