Goal.h
Goal(const SpaceInformationPtr &si)
Constructor. The goal must always know the space information it is part of.
Definition: Goal.cpp:40
virtual bool isStartGoalPairValid(const State *, const State *) const
Since there can be multiple starting states (and multiple goal states) it is possible certain pairs a...
Definition: Goal.h:136
virtual void print(std::ostream &out=std::cout) const
Print information about the goal.
Definition: Goal.cpp:52
const SpaceInformationPtr & getSpaceInformation() const
Get the space information this goal is for.
Definition: Goal.h:108
bool hasType(GoalType type) const
Check if this goal can be cast to a particular goal type.
Definition: Goal.h:102
A boost shared pointer wrapper for ompl::base::SpaceInformation.
virtual bool isSatisfied(const State *st) const =0
Return true if the state satisfies the goal constraints.