37 #ifndef OMPL_BASE_PROBLEM_DEFINITION_
38 #define OMPL_BASE_PROBLEM_DEFINITION_
40 #include "ompl/base/State.h"
41 #include "ompl/base/Goal.h"
42 #include "ompl/base/Path.h"
43 #include "ompl/base/SpaceInformation.h"
44 #include "ompl/base/SolutionNonExistenceProof.h"
45 #include "ompl/base/OptimizationObjective.h"
47 #include "ompl/util/ClassForward.h"
48 #include "ompl/base/ScopedState.h"
55 #include <boost/noncopyable.hpp>
64 OMPL_CLASS_FORWARD(ProblemDefinition);
154 for (
unsigned int i = 0 ; i <
startStates_.size() ; ++i)
211 void setGoalState(
const State *goal,
const double threshold = std::numeric_limits<double>::epsilon());
248 bool isTrivial(
unsigned int *startIndex = NULL,
double *distance = NULL)
const;
315 void print(std::ostream &out = std::cout)
const;
340 OMPL_CLASS_FORWARD(PlannerSolutionSet);
344 PlannerSolutionSetPtr solutions_;