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--></script> <div id="nav-path" class="navpath"> <ul> <li class="navelem"><a class="el" href="dir_f5421e52a658cd938113ed6044324834.html">src</a> </li> <li class="navelem"><a class="el" href="dir_ae92c2ff78847f0cb49b545f9089bbbc.html">ompl</a> </li> <li class="navelem"><a class="el" href="dir_40bc83a902349ad67ef9d1cb49964511.html">base</a> </li> <li class="navelem"><a class="el" href="dir_638c121d1114340bf3e84a5e9d67e9f2.html">src</a> </li> </ul> </div> </div> <div class="header"> <div class="headertitle"> <div class="title">PlannerTerminationCondition.cpp</div> </div> </div> <div class="contents"> <div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span> <a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span> <a name="l00003"></a>00003 <span class="comment">*</span> <a name="l00004"></a>00004 <span class="comment">* Copyright (c) 2011, Rice University</span> <a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span> <a name="l00006"></a>00006 <span class="comment">*</span> <a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span> <a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span> <a name="l00009"></a>00009 <span class="comment">* are met:</span> <a name="l00010"></a>00010 <span class="comment">*</span> <a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span> <a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span> <a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span> <a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span> <a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span> <a name="l00016"></a>00016 <span class="comment">* with the distribution.</span> <a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Rice University nor the names of its</span> <a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span> <a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span> <a name="l00020"></a>00020 <span class="comment">*</span> <a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span> <a name="l00022"></a>00022 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span> <a name="l00023"></a>00023 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span> <a name="l00024"></a>00024 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span> <a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span> <a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span> <a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span> <a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span> <a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span> <a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span> <a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span> <a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span> <a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span> <a name="l00034"></a>00034 <a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span> <a name="l00036"></a>00036 <a name="l00037"></a>00037 <span class="preprocessor">#include "ompl/base/PlannerTerminationCondition.h"</span> <a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/util/Time.h"</span> <a name="l00039"></a>00039 <span class="preprocessor">#include <boost/bind.hpp></span> <a name="l00040"></a>00040 <span class="preprocessor">#include <boost/lambda/bind.hpp></span> <a name="l00041"></a>00041 <span class="preprocessor">#include <utility></span> <a name="l00042"></a>00042 <a name="l00043"></a><a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html#ae65bf5a4796d46c52112b9dd85f6984a">00043</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html#ae65bf5a4796d46c52112b9dd85f6984a" title="Notify that the condition for termination should become true, regardless of what eval() returns...">ompl::base::PlannerTerminationCondition::terminate</a>(<span class="keywordtype">bool</span> flag) <a name="l00044"></a>00044 { <a name="l00045"></a>00045 <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html#a34e1d35724c6aaedaae7dc80e7634240" title="Flag indicating whether the user has externally requested that the condition for termination should b...">terminate_</a> = flag; <a name="l00046"></a>00046 } <a name="l00047"></a>00047 <a name="l00048"></a><a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html#afb1d7afe583bf5d9380540251e17d723">00048</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html#afb1d7afe583bf5d9380540251e17d723" title="The implementation of some termination condition. By default, this just calls fn_() ...">ompl::base::PlannerTerminationCondition::eval</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span> <a name="l00049"></a>00049 <span class="keyword"></span>{ <a name="l00050"></a>00050 <span class="keywordflow">return</span> fn_(); <a name="l00051"></a>00051 } <a name="l00052"></a>00052 <a name="l00053"></a>00053 ompl::base::PlannerNonTerminatingCondition::PlannerNonTerminatingCondition(<span class="keywordtype">void</span>) : <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html" title="Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...">PlannerTerminationCondition</a>(boost::lambda::constant(false)) <a name="l00054"></a>00054 { <a name="l00055"></a>00055 } <a name="l00056"></a>00056 <a name="l00057"></a>00057 ompl::base::PlannerAlwaysTerminatingCondition::PlannerAlwaysTerminatingCondition(<span class="keywordtype">void</span>) : PlannerTerminationCondition(boost::lambda::constant(true)) <a name="l00058"></a>00058 { <a name="l00059"></a>00059 } <a name="l00060"></a>00060 <a name="l00062"></a>00062 <span class="keyword">namespace </span>ompl <a name="l00063"></a>00063 { <a name="l00064"></a>00064 <span class="keyword">namespace </span>base <a name="l00065"></a>00065 { <a name="l00066"></a>00066 <span class="keyword">static</span> <span class="keywordtype">bool</span> plannerOrTerminationCondition(<span class="keyword">const</span> PlannerTerminationCondition &c1, <span class="keyword">const</span> PlannerTerminationCondition &c2) <a name="l00067"></a>00067 { <a name="l00068"></a>00068 <span class="keywordflow">return</span> c1() || c2(); <a name="l00069"></a>00069 } <a name="l00070"></a>00070 <a name="l00071"></a>00071 <span class="keyword">static</span> <span class="keywordtype">bool</span> plannerAndTerminationCondition(<span class="keyword">const</span> PlannerTerminationCondition &c1, <span class="keyword">const</span> PlannerTerminationCondition &c2) <a name="l00072"></a>00072 { <a name="l00073"></a>00073 <span class="keywordflow">return</span> c1() && c2(); <a name="l00074"></a>00074 } <a name="l00075"></a>00075 <a name="l00076"></a>00076 <span class="comment">// return true if a certain point in time has passed</span> <a name="l00077"></a>00077 <span class="keyword">static</span> <span class="keywordtype">bool</span> timePassed(<span class="keyword">const</span> <a class="code" href="namespaceompl_1_1time.html#a9f28e947d7e95cfa5f0790ccdb7f0953" title="Representation of a point in time.">time::point</a> &endTime) <a name="l00078"></a>00078 { <a name="l00079"></a>00079 <span class="keywordflow">return</span> <a class="code" href="namespaceompl_1_1time.html#a1413ad6c9709d0699343679b291b9c1d" title="Get the current time point.">time::now</a>() > endTime; <a name="l00080"></a>00080 } <a name="l00081"></a>00081 } <a name="l00082"></a>00082 } <a name="l00084"></a>00084 <a name="l00085"></a>00085 ompl::base::PlannerOrTerminationCondition::PlannerOrTerminationCondition(<span class="keyword">const</span> PlannerTerminationCondition &c1, <span class="keyword">const</span> PlannerTerminationCondition &c2) : <a name="l00086"></a>00086 PlannerTerminationCondition(boost::bind(&plannerOrTerminationCondition, boost::cref(c1), boost::cref(c2))) <a name="l00087"></a>00087 { <a name="l00088"></a>00088 } <a name="l00089"></a>00089 <a name="l00090"></a>00090 ompl::base::PlannerAndTerminationCondition::PlannerAndTerminationCondition(<span class="keyword">const</span> PlannerTerminationCondition &c1, <span class="keyword">const</span> PlannerTerminationCondition &c2) : <a name="l00091"></a>00091 PlannerTerminationCondition(boost::bind(&plannerAndTerminationCondition, boost::cref(c1), boost::cref(c2))) <a name="l00092"></a>00092 { <a name="l00093"></a>00093 } <a name="l00094"></a>00094 <a name="l00095"></a><a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#a9c4c9e860b01cd5a7dab3a3c499b6c51">00095</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#a9c4c9e860b01cd5a7dab3a3c499b6c51" title="Simply return the cached value for the termination condition (evalValue_)">ompl::base::PlannerThreadedTerminationCondition::eval</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span> <a name="l00096"></a>00096 <span class="keyword"></span>{ <a name="l00097"></a>00097 <span class="keywordflow">return</span> evalValue_; <a name="l00098"></a>00098 } <a name="l00099"></a>00099 <a name="l00100"></a><a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#a935d4bca1172f0f2fa650d94bca37c8b">00100</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#a935d4bca1172f0f2fa650d94bca37c8b" title="Notify that the condition for termination should become true, regardless of what eval() returns...">ompl::base::PlannerThreadedTerminationCondition::terminate</a>(<span class="keywordtype">bool</span> flag) <a name="l00101"></a>00101 { <a name="l00102"></a>00102 <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html#ae65bf5a4796d46c52112b9dd85f6984a" title="Notify that the condition for termination should become true, regardless of what eval() returns...">PlannerTerminationCondition::terminate</a>(flag); <a name="l00103"></a>00103 <span class="keywordflow">if</span> (terminate_) <a name="l00104"></a>00104 stopEvalThread(); <a name="l00105"></a>00105 <span class="keywordflow">else</span> <a name="l00106"></a>00106 startEvalThread(); <a name="l00107"></a>00107 } <a name="l00108"></a>00108 <a name="l00109"></a><a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#a9222cd85bc23fd6e4bca8e5f6b3365ee">00109</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#a9222cd85bc23fd6e4bca8e5f6b3365ee" title="Start the thread evaluating termination conditions if not already started.">ompl::base::PlannerThreadedTerminationCondition::startEvalThread</a>(<span class="keywordtype">void</span>) <a name="l00110"></a>00110 { <a name="l00111"></a>00111 <span class="keywordflow">if</span> (!thread_) <a name="l00112"></a>00112 thread_ = <span class="keyword">new</span> boost::thread(boost::bind(&<a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#ae7d0ba1d7e33560e4330a59c0ffd7a40" title="Worker function that runs in a separate thread (calls computeEval())">PlannerThreadedTerminationCondition::periodicEval</a>, <span class="keyword">this</span>)); <a name="l00113"></a>00113 } <a name="l00114"></a>00114 <a name="l00115"></a><a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#a0790b962d20ac3c7ea03a99e43efe6e7">00115</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#a0790b962d20ac3c7ea03a99e43efe6e7" title="Stop the thread evaluating termination conditions if not already stopped.">ompl::base::PlannerThreadedTerminationCondition::stopEvalThread</a>(<span class="keywordtype">void</span>) <a name="l00116"></a>00116 { <a name="l00117"></a>00117 <span class="keywordflow">if</span> (thread_) <a name="l00118"></a>00118 { <a name="l00119"></a>00119 thread_->interrupt(); <a name="l00120"></a>00120 thread_->join(); <a name="l00121"></a>00121 <span class="keyword">delete</span> thread_; <a name="l00122"></a>00122 thread_ = NULL; <a name="l00123"></a>00123 } <a name="l00124"></a>00124 } <a name="l00125"></a>00125 <a name="l00126"></a><a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#a39d7d436d7b07dd2061349f0fbac24f3">00126</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#a39d7d436d7b07dd2061349f0fbac24f3" title="Evaluate the termination condition. By default this is a call to fn_() from the base class...">ompl::base::PlannerThreadedTerminationCondition::computeEval</a>(<span class="keywordtype">void</span>) <a name="l00127"></a>00127 { <a name="l00128"></a>00128 <span class="keywordflow">return</span> fn_(); <a name="l00129"></a>00129 } <a name="l00130"></a>00130 <a name="l00131"></a><a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#ab0fa2bb0ca2c81bc89be5c0091745ba6">00131</a> <a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#ab0fa2bb0ca2c81bc89be5c0091745ba6" title="Construct a termination condition that is evaluated every period seconds. The evaluation of the condi...">ompl::base::PlannerThreadedTerminationCondition::PlannerThreadedTerminationCondition</a>(<span class="keyword">const</span> <a class="code" href="namespaceompl_1_1base.html#a23037e2dfd720e4b1b7b4d1c6b09ba1d" title="Signature for functions that decide whether termination conditions have been met for a planner...">PlannerTerminationConditionFn</a> &fn, <span class="keywordtype">double</span> period) : <a name="l00132"></a>00132 <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html" title="Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...">PlannerTerminationCondition</a>(fn), thread_(NULL), evalValue_(terminate_), period_(period) <a name="l00133"></a>00133 { <a name="l00134"></a>00134 <a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#a9222cd85bc23fd6e4bca8e5f6b3365ee" title="Start the thread evaluating termination conditions if not already started.">startEvalThread</a>(); <a name="l00135"></a>00135 } <a name="l00136"></a>00136 <a name="l00137"></a>00137 ompl::base::PlannerThreadedTerminationCondition::~PlannerThreadedTerminationCondition(<span class="keywordtype">void</span>) <a name="l00138"></a>00138 { <a name="l00139"></a>00139 terminate_ = <span class="keyword">true</span>; <a name="l00140"></a>00140 stopEvalThread(); <a name="l00141"></a>00141 } <a name="l00142"></a>00142 <a name="l00143"></a><a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#ae7d0ba1d7e33560e4330a59c0ffd7a40">00143</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#ae7d0ba1d7e33560e4330a59c0ffd7a40" title="Worker function that runs in a separate thread (calls computeEval())">ompl::base::PlannerThreadedTerminationCondition::periodicEval</a>(<span class="keywordtype">void</span>) <a name="l00144"></a>00144 { <a name="l00145"></a>00145 <a class="code" href="namespaceompl_1_1time.html#a4c9f24d26cae91eb6598630f6a22e1b9" title="Representation of a time duration.">time::duration</a> s = <a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1" title="Return the time duration representing a given number of seconds.">time::seconds</a>(period_); <a name="l00146"></a>00146 <span class="keywordflow">do</span> <a name="l00147"></a>00147 { <a name="l00148"></a>00148 evalValue_ = computeEval(); <a name="l00149"></a>00149 <span class="keywordflow">if</span> ((*<span class="keyword">this</span>)()) <a name="l00150"></a>00150 <span class="keywordflow">break</span>; <a name="l00151"></a>00151 boost::this_thread::sleep(s); <a name="l00152"></a>00152 } <span class="keywordflow">while</span> (!(*<span class="keyword">this</span>)()); <a name="l00153"></a>00153 } <a name="l00154"></a>00154 <a name="l00155"></a>00155 <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html" title="Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...">ompl::base::PlannerTerminationCondition</a> ompl::base::timedPlannerTerminationCondition(<span class="keywordtype">double</span> duration) <a name="l00156"></a>00156 { <a name="l00157"></a>00157 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html" title="Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...">PlannerTerminationCondition</a>(boost::bind(&timePassed, <a class="code" href="namespaceompl_1_1time.html#a1413ad6c9709d0699343679b291b9c1d" title="Get the current time point.">time::now</a>() + <a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1" title="Return the time duration representing a given number of seconds.">time::seconds</a>(duration))); <a name="l00158"></a>00158 } </pre></div></div> </div> <!-- window showing the filter options --> <div id="MSearchSelectWindow" onmouseover="return searchBox.OnSearchSelectShow()" onmouseout="return searchBox.OnSearchSelectHide()" onkeydown="return searchBox.OnSearchSelectKey(event)"> <a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </span>Enumerator</a></div> <!-- iframe showing the search results (closed by default) --> <div id="MSearchResultsWindow"> <iframe src="javascript:void(0)" frameborder="0" name="MSearchResults" id="MSearchResults"> </iframe> </div> </div> <div class="footer span-22 push-2 last"> <a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> • <a href="http://www.cs.rice.edu">Department of Computer Science</a> • <a href="http://www.rice.edu">Rice University</a><br> <div class="gray">Generated on Sun Oct 9 2011 23:04:29 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div> </div> </div> </body> </html>