Goal.h

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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(const SpaceInformationPtr &si);

            virtual ~Goal()
            {
            }

            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