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Goal.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/Goal.h"
38 
39 #include <limits>
40 
42  type_(GOAL_ANY), si_(si), maximumPathLength_(std::numeric_limits<double>::infinity())
43 {
44 }
45 
46 bool ompl::base::Goal::isSatisfied(const State *st, double *distance) const
47 {
48  if (distance != NULL)
49  *distance = std::numeric_limits<double>::max();
50  return isSatisfied(st);
51 }
52 
53 bool ompl::base::Goal::isSatisfied(const State *st, double pathLength, double *distance) const
54 {
55  if (pathLength > maximumPathLength_)
56  {
57  if (distance != NULL)
58  isSatisfied(st, distance);
59  return false;
60  }
61  else
62  return isSatisfied(st, distance);
63 }
64 
65 void ompl::base::Goal::print(std::ostream &out) const
66 {
67  out << "Goal memory address " << this << std::endl;
68 }