GoalRegion.hpp

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#ifndef AIKIDO_OMPL_GOALREGION_HPP_
#define AIKIDO_OMPL_GOALREGION_HPP_
 
#include <ompl/base/goals/GoalSampleableRegion.h>
 
#include "aikido/constraint/Sampleable.hpp"
#include "aikido/constraint/Testable.hpp"
 
namespace aikido {
namespace planner {
namespace ompl {
 
class GoalRegion : public ::ompl::base::GoalSampleableRegion
{
public:
  GoalRegion(
      const ::ompl::base::SpaceInformationPtr& _si,
      constraint::TestablePtr _goalTestable,
      std::unique_ptr<constraint::SampleGenerator> _generator);
 
  void sampleGoal(::ompl::base::State* _state) const override;
 
  unsigned int maxSampleCount() const override;
 
  bool couldSample() const override;
 
  double distanceGoal(const ::ompl::base::State* _state) const override;
 
  bool isSatisfied(const ::ompl::base::State* _state) const override;
 
private:
  constraint::TestablePtr mTestable;
  std::unique_ptr<constraint::SampleGenerator> mSampleGenerator;
};
 
} // namespace ompl
} // namespace planner
} // namespace aikido
 
#endif