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KoulesGoal.h
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34
35/* Author: Beck Chen, Mark Moll */
36
37#ifndef DEMOS_KOULES_GOAL_
38#define DEMOS_KOULES_GOAL_
39
40#include <ompl/base/goals/GoalSampleableRegion.h>
41
42// Sampleable goal region for KoulesModel.
44{
45public:
47 : ompl::base::GoalSampleableRegion(si), stateSampler_(si->allocStateSampler())
48 {
49 threshold_ = 0.01;
50 }
51
52 // number of "live" koules plus the shortest distance between any live koule and an edge
53 virtual double distanceGoal(const ompl::base::State *st) const;
54 // pick a random state where each koule is on the edge of the workspace
55 virtual void sampleGoal(ompl::base::State *st) const;
56 virtual unsigned int maxSampleCount() const
57 {
58 return std::numeric_limits<unsigned int>::max();
59 }
60
61
62private:
63 mutable ompl::RNG rng_;
64 ompl::base::StateSamplerPtr stateSampler_;
65};
66
67#endif
virtual void sampleGoal(ompl::base::State *st) const
Sample a state in the goal region.
Definition: KoulesGoal.cpp:63
virtual unsigned int maxSampleCount() const
Return the maximum number of samples that can be asked for before repeating.
Definition: KoulesGoal.h:56
virtual double distanceGoal(const ompl::base::State *st) const
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
Definition: KoulesGoal.cpp:39
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
double threshold_
The maximum distance that is allowed to the goal. By default, this is initialized to the minimum epsi...
Definition: GoalRegion.h:91
Abstract definition of a goal region that can be sampled.
A shared pointer wrapper for ompl::base::SpaceInformation.
A shared pointer wrapper for ompl::base::StateSampler.
Definition of an abstract state.
Definition: State.h:50