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GoalStates.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_GOALS_GOAL_STATES_
38 #define OMPL_BASE_GOALS_GOAL_STATES_
39 
40 #include "ompl/base/goals/GoalSampleableRegion.h"
41 #include "ompl/base/ScopedState.h"
42 #include <vector>
43 
44 namespace ompl
45 {
46  namespace base
47  {
48 
51  {
52  public:
53 
55  GoalStates(const SpaceInformationPtr &si) : GoalSampleableRegion(si), samplePosition_(0)
56  {
58  }
59 
60  virtual ~GoalStates(void);
61 
62  virtual void sampleGoal(State *st) const;
63 
64  virtual unsigned int maxSampleCount(void) const;
65 
66  virtual double distanceGoal(const State *st) const;
67 
68  virtual void print(std::ostream &out = std::cout) const;
69 
71  virtual void addState(const State* st);
72 
74  void addState(const ScopedState<> &st);
75 
77  virtual void clear(void);
78 
80  virtual bool hasStates(void) const;
81 
83  virtual const State* getState(unsigned int index) const;
84 
86  virtual std::size_t getStateCount(void) const;
87 
88  protected:
89 
91  std::vector<State*> states_;
92 
93  private:
94 
96  mutable unsigned int samplePosition_;
97 
99  void freeMemory(void);
100 
101  };
102 
103  }
104 }
105 
106 #endif