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The MoveIt Motion Planning Framework for ROS 2.
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ompl_interface::GoalSampleableRegionMux Class Reference

#include <goal_union.h>

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Public Member Functions

 GoalSampleableRegionMux (const std::vector< ompl::base::GoalPtr > &goals)
 Constructor. More...
 
 ~GoalSampleableRegionMux () override
 
void sampleGoal (ompl::base::State *st) const override
 Sample a goal. More...
 
unsigned int maxSampleCount () const override
 Get the max sample count. More...
 
virtual bool canSample () const
 Query if sampler can find any sample. More...
 
bool couldSample () const override
 Query if sampler could find a sample in the future. More...
 
bool isSatisfied (const ompl::base::State *st, double *distance) const override
 Is the goal satisfied for this state (given a distance) More...
 
double distanceGoal (const ompl::base::State *st) const override
 Find the distance of this state from the goal. More...
 
void startSampling ()
 If there are any member lazy samplers, start them. More...
 
void stopSampling ()
 If there are any member lazy samplers, stop them. More...
 
void print (std::ostream &out=std::cout) const override
 Pretty print goal information. More...
 

Protected Attributes

std::vector< ompl::base::GoalPtr > goals_
 
unsigned int gindex_
 

Detailed Description

Definition at line 42 of file goal_union.h.

Constructor & Destructor Documentation

◆ GoalSampleableRegionMux()

ompl_interface::GoalSampleableRegionMux::GoalSampleableRegionMux ( const std::vector< ompl::base::GoalPtr > &  goals)

Constructor.

Parameters
goalsThe input set of goals

Definition at line 56 of file goal_union.cpp.

◆ ~GoalSampleableRegionMux()

ompl_interface::GoalSampleableRegionMux::~GoalSampleableRegionMux ( )
inlineoverride

Definition at line 49 of file goal_union.h.

Member Function Documentation

◆ canSample()

bool ompl_interface::GoalSampleableRegionMux::canSample ( ) const
virtual

Query if sampler can find any sample.

Definition at line 97 of file goal_union.cpp.

◆ couldSample()

bool ompl_interface::GoalSampleableRegionMux::couldSample ( ) const
override

Query if sampler could find a sample in the future.

Definition at line 105 of file goal_union.cpp.

◆ distanceGoal()

double ompl_interface::GoalSampleableRegionMux::distanceGoal ( const ompl::base::State *  st) const
override

Find the distance of this state from the goal.

Definition at line 121 of file goal_union.cpp.

◆ isSatisfied()

bool ompl_interface::GoalSampleableRegionMux::isSatisfied ( const ompl::base::State *  st,
double *  distance 
) const
override

Is the goal satisfied for this state (given a distance)

Definition at line 113 of file goal_union.cpp.

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◆ maxSampleCount()

unsigned int ompl_interface::GoalSampleableRegionMux::maxSampleCount ( ) const
override

Get the max sample count.

Definition at line 89 of file goal_union.cpp.

◆ print()

void ompl_interface::GoalSampleableRegionMux::print ( std::ostream &  out = std::cout) const
override

Pretty print goal information.

Definition at line 133 of file goal_union.cpp.

◆ sampleGoal()

void ompl_interface::GoalSampleableRegionMux::sampleGoal ( ompl::base::State *  st) const
override

Sample a goal.

Definition at line 75 of file goal_union.cpp.

◆ startSampling()

void ompl_interface::GoalSampleableRegionMux::startSampling ( )

If there are any member lazy samplers, start them.

Definition at line 61 of file goal_union.cpp.

◆ stopSampling()

void ompl_interface::GoalSampleableRegionMux::stopSampling ( )

If there are any member lazy samplers, stop them.

Definition at line 68 of file goal_union.cpp.

Member Data Documentation

◆ gindex_

unsigned int ompl_interface::GoalSampleableRegionMux::gindex_
mutableprotected

Definition at line 82 of file goal_union.h.

◆ goals_

std::vector<ompl::base::GoalPtr> ompl_interface::GoalSampleableRegionMux::goals_
protected

Definition at line 81 of file goal_union.h.


The documentation for this class was generated from the following files: