goal_union.hpp

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <ompl/base/goals/GoalSampleableRegion.h>
 
namespace ompl_interface
{
class GoalSampleableRegionMux : public ompl::base::GoalSampleableRegion
{
public:
  GoalSampleableRegionMux(const std::vector<ompl::base::GoalPtr>& goals);
 
  ~GoalSampleableRegionMux() override
  {
  }
 
  void sampleGoal(ompl::base::State* st) const override;
 
  unsigned int maxSampleCount() const override;
 
  virtual bool canSample() const;
 
  bool couldSample() const override;
 
  bool isSatisfied(const ompl::base::State* st, double* distance) const override;
 
  double distanceGoal(const ompl::base::State* st) const override;
 
  void startSampling();
 
  void stopSampling();
 
  void print(std::ostream& out = std::cout) const override;
 
protected:
  std::vector<ompl::base::GoalPtr> goals_;
  mutable unsigned int gindex_;
};
}  // namespace ompl_interface