aikido::planner::ompl::GoalRegion Class Reference

Exposes a Testable/Sampleable constraint pair as a goal to OMPL planners. More...

#include <aikido/planner/ompl/GoalRegion.hpp>

Inheritance diagram for aikido::planner::ompl::GoalRegion:

Public Member Functions
	GoalRegion (const ::ompl::base::SpaceInformationPtr &_si, constraint::TestablePtr _goalTestable, std::unique_ptr< constraint::SampleGenerator > _generator)
	Constructor. More...
void	sampleGoal (::ompl::base::State *_state) const override
	Sample a state in the goal region using the SampleGenerator defined on the class. More...
unsigned int	maxSampleCount () const override
	Return the maximum number of samples that can be asked for before repeating. More...
bool	couldSample () const override
	Return true if the SampleGenerator can generate more samples. More...
double	distanceGoal (const ::ompl::base::State *_state) const override
	Return 0 if the goal is satisfied or inf otherwise. More...
bool	isSatisfied (const ::ompl::base::State *_state) const override
	Return true if the state satisfies the goal constraints. More...

Private Attributes
constraint::TestablePtr	mTestable
std::unique_ptr< constraint::SampleGenerator >	mSampleGenerator

Detailed Description

Exposes a Testable/Sampleable constraint pair as a goal to OMPL planners.

Constructor & Destructor Documentation

GoalRegion()

aikido::planner::ompl::GoalRegion::GoalRegion	(	const ::ompl::base::SpaceInformationPtr &	_si,
		constraint::TestablePtr	_goalTestable,
		std::unique_ptr< constraint::SampleGenerator >	_generator
	)

Constructor.

Generate a goal region from a Testable constraint and a SampleGenerator.

Parameters

_si	The SpaceInformation defining the planning instance where this goal is used
_goalTestable	A Testable that is satisfied for all states in this GoalRegion
_generator	A SampleGenerator that returns states in this GoalRegion

Member Function Documentation

couldSample()

bool aikido::planner::ompl::GoalRegion::couldSample ( ) const

override

Return true if the SampleGenerator can generate more samples.

distanceGoal()

double aikido::planner::ompl::GoalRegion::distanceGoal ( const ::ompl::base::State *  _state ) const

override

Return 0 if the goal is satisfied or inf otherwise.

Parameters

_state

The state to evaluate

isSatisfied()

bool aikido::planner::ompl::GoalRegion::isSatisfied ( const ::ompl::base::State *  _state ) const

override

Return true if the state satisfies the goal constraints.

Parameters

_state

The state to evaluate

maxSampleCount()

unsigned int aikido::planner::ompl::GoalRegion::maxSampleCount ( ) const

override

Return the maximum number of samples that can be asked for before repeating.

sampleGoal()

void aikido::planner::ompl::GoalRegion::sampleGoal ( ::ompl::base::State *  _state ) const

override

Sample a state in the goal region using the SampleGenerator defined on the class.

Parameters

[out]

_state

The sampled state

Member Data Documentation

mSampleGenerator

std::unique_ptr<constraint::SampleGenerator> aikido::planner::ompl::GoalRegion::mSampleGenerator

private

mTestable

constraint::TestablePtr aikido::planner::ompl::GoalRegion::mTestable

private