GoalRegion.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_BASE_GOALS_GOAL_REGION_
#define OMPL_BASE_GOALS_GOAL_REGION_
 
#include "ompl/base/Goal.h"
 
namespace ompl
{
    namespace base
    {
        class GoalRegion : public Goal
        {
        public:
            GoalRegion(const SpaceInformationPtr &si);
 
            ~GoalRegion() override = default;
 
            bool isSatisfied(const State *st) const override;
 
            bool isSatisfied(const State *st, double *distance) const override;
 
            virtual double distanceGoal(const State *st) const = 0;
 
            void print(std::ostream &out = std::cout) const override;
 
            void setThreshold(double threshold)
            {
                threshold_ = threshold;
            }
 
            double getThreshold() const
            {
                return threshold_;
            }
 
        protected:
            double threshold_;
        };
    }
}
 
#endif