.. _program_listing_file_src_ompl_base_Goal.h:

Program Listing for File Goal.h
===============================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ompl_base_Goal.h>` (``src/ompl/base/Goal.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: Ioan Sucan */
   
   #ifndef OMPL_BASE_GOAL_
   #define OMPL_BASE_GOAL_
   
   #include "ompl/base/State.h"
   #include "ompl/base/SpaceInformation.h"
   #include "ompl/util/ClassForward.h"
   #include "ompl/base/GoalTypes.h"
   #include "ompl/util/Console.h"
   #include <iostream>
   #include <boost/concept_check.hpp>
   #include <vector>
   
   namespace ompl
   {
       namespace base
       {
   
           OMPL_CLASS_FORWARD(Goal);
   
           class Goal
           {
           public:
               // non-copyable
               Goal(const Goal &) = delete;
               Goal &operator=(const Goal &) = delete;
   
               Goal(SpaceInformationPtr si);
   
               virtual ~Goal() = default;
   
               template <class T>
               T *as()
               {
                   BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Goal *>));
   
                   return static_cast<T *>(this);
               }
   
               template <class T>
               const T *as() const
               {
                   BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Goal *>));
   
                   return static_cast<const T *>(this);
               }
   
               GoalType getType() const
               {
                   return type_;
               }
   
               bool hasType(GoalType type) const
               {
                   return (type_ & type) == type;
               }
   
               const SpaceInformationPtr &getSpaceInformation() const
               {
                   return si_;
               }
   
               virtual bool isSatisfied(const State *st) const = 0;
   
               virtual bool isSatisfied(const State *st, double *distance) const;
   
               virtual bool isStartGoalPairValid(const State * /* start */, const State * /* goal */) const
               {
                   return true;
               }
   
               virtual void print(std::ostream &out = std::cout) const;
   
           protected:
               GoalType type_;
   
               SpaceInformationPtr si_;
           };
       }
   }
   
   #endif