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src
ompl
base
Goal.h
1
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Ioan Sucan */
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#ifndef OMPL_BASE_GOAL_
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#define OMPL_BASE_GOAL_
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#include "ompl/base/State.h"
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#include "ompl/base/SpaceInformation.h"
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#include "ompl/util/ClassForward.h"
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#include "ompl/base/GoalTypes.h"
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#include "
ompl/util/Console.h
"
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#include <iostream>
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#include <boost/noncopyable.hpp>
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#include <boost/concept_check.hpp>
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#include <vector>
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namespace
ompl
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{
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namespace
base
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{
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ClassForward
(Goal);
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class
Goal
:
private
boost::noncopyable
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{
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public
:
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Goal
(
const
SpaceInformationPtr
&si);
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virtual
~Goal
(
void
)
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{
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}
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template
<
class
T>
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T*
as
(
void
)
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{
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BOOST_CONCEPT_ASSERT((boost::Convertible<T*, Goal*>));
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return
static_cast<
T*
>
(
this
);
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}
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template
<
class
T>
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const
T*
as
(
void
)
const
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{
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BOOST_CONCEPT_ASSERT((boost::Convertible<T*, Goal*>));
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return
static_cast<
const
T*
>
(
this
);
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}
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GoalType
getType
(
void
)
const
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{
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return
type_
;
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}
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bool
hasType
(
GoalType
type)
const
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{
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return
(
type_
& type) == type;
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}
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const
SpaceInformationPtr
&
getSpaceInformation
(
void
)
const
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{
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return
si_
;
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}
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virtual
bool
isSatisfied
(
const
State
*st)
const
= 0;
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virtual
bool
isSatisfied
(
const
State
*st,
double
*distance)
const
;
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bool
isSatisfied
(
const
State
*st,
double
pathLength,
double
*distance)
const
;
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virtual
bool
isStartGoalPairValid
(
const
State
*
/* start */
,
const
State
*
/* goal */
)
const
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{
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return
true
;
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}
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double
getMaximumPathLength
(
void
)
const
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{
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return
maximumPathLength_
;
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}
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void
setMaximumPathLength
(
double
maximumPathLength)
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{
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maximumPathLength_
= maximumPathLength;
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}
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bool
isPathLengthSatisfied
(
double
pathLength)
const
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{
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return
pathLength <=
maximumPathLength_
;
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}
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virtual
void
print
(std::ostream &out = std::cout)
const
;
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protected
:
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GoalType
type_
;
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SpaceInformationPtr
si_
;
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double
maximumPathLength_
;
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};
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}
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}
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#endif