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/* Author: Ioan Sucan */

#include "ompl/base/goals/GoalState.h"
#include "ompl/base/SpaceInformation.h"

ompl::base::GoalState::~GoalState()
{
    if (state_)
        si_->freeState(state_);
}

double ompl::base::GoalState::distanceGoal(const State *st) const
{
    return si_->distance(st, state_);
}

void ompl::base::GoalState::print(std::ostream &out) const
{
    out << "Goal state, threshold = " << threshold_ << ", memory address = " << this << ", state = " << std::endl;
    si_->printState(state_, out);
}

void ompl::base::GoalState::sampleGoal(base::State *st) const
{
    si_->copyState(st, state_);
}

unsigned int ompl::base::GoalState::maxSampleCount() const
{
    return 1;
}

void ompl::base::GoalState::setState(const State *st)
{
    if (state_)
        si_->freeState(state_);
    state_ = si_->cloneState(st);
}

void ompl::base::GoalState::setState(const ScopedState<> &st)
{
    setState(st.get());
}

const ompl::base::State *ompl::base::GoalState::getState() const
{
    return state_;
}

ompl::base::State *ompl::base::GoalState::getState()
{
    return state_;
}
