MorseGoal.cpp
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2010, Rice University
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the Rice University nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Author: Caleb Voss */
36
37#include "ompl/extensions/morse/MorseGoal.h"
38
40{
41 return isSatisfied_Py(state);
42}
43
44bool ompl::base::MorseGoal::isSatisfied(const State *state, double *distance) const
45{
46 bool sat = isSatisfied_Py(state);
47 if (distance != nullptr)
48 {
49 // the Python object will set distance_ during isSatisfied_py() call
50 *distance = distance_;
51 }
52 return sat;
53}
bool isSatisfied(const State *state) const override
Return true if state satisfies the goal.
Definition: MorseGoal.cpp:39
virtual bool isSatisfied_Py(const State *state) const =0
To be implemented in Python; behaves like isSatisfied(state, &distance_)
Definition of an abstract state.
Definition: State.h:50