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<div class="title">GoalLazySamples.cpp</div>  </div>
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<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) 2010, 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">*  &quot;AS IS&quot; 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 &quot;ompl/base/GoalLazySamples.h&quot;</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include &quot;ompl/base/ScopedState.h&quot;</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include &quot;ompl/util/Time.h&quot;</span>
<a name="l00040"></a>00040 
<a name="l00041"></a><a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#ad296cf0838d99bbd70fdf807432f2e67">00041</a> <a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#ad296cf0838d99bbd70fdf807432f2e67" title="Create a goal region that can be sampled in a lazy fashion. A function that produces samples from tha...">ompl::base::GoalLazySamples::GoalLazySamples</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::base::SpaceInformation.">SpaceInformationPtr</a> &amp;si, <span class="keyword">const</span> <a class="code" href="namespaceompl_1_1base.html#a7ed818b17b8281f0dbb11b666a76aaa7" title="Goal sampling function. Returns false when no further calls should be made to it. Fills its second ar...">GoalSamplingFn</a> &amp;samplerFunc, <span class="keywordtype">bool</span> autoStart, <span class="keywordtype">double</span> minDist) :
<a name="l00042"></a>00042     <a class="code" href="classompl_1_1base_1_1GoalStates.html" title="Definition of a set of goal states.">GoalStates</a>(si), samplerFunc_(samplerFunc), terminateSamplingThread_(false), samplingThread_(NULL), lastStateAdded_(false), minDist_(minDist)
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044     <a class="code" href="classompl_1_1base_1_1Goal.html#af5e22736c4d1335c4edf92d8c76eaa02" title="Goal type.">type_</a> = <a class="code" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a15dee78752265020cab91cf866fee69d" title="This bit is set if casting to goal states (ompl::base::GoalLazySamples) is possible.">GOAL_LAZY_SAMPLES</a>;
<a name="l00045"></a>00045     <span class="keywordflow">if</span> (autoStart)
<a name="l00046"></a>00046         <a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#af3894060ae99b12f00cdcc1ef2c7d0bf" title="Start the goal sampling thread.">startSampling</a>();
<a name="l00047"></a>00047 }
<a name="l00048"></a>00048 
<a name="l00049"></a>00049 ompl::base::GoalLazySamples::~GoalLazySamples(<span class="keywordtype">void</span>)
<a name="l00050"></a>00050 {
<a name="l00051"></a>00051     stopSampling();
<a name="l00052"></a>00052 }
<a name="l00053"></a>00053 
<a name="l00054"></a><a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#af3894060ae99b12f00cdcc1ef2c7d0bf">00054</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#af3894060ae99b12f00cdcc1ef2c7d0bf" title="Start the goal sampling thread.">ompl::base::GoalLazySamples::startSampling</a>(<span class="keywordtype">void</span>)
<a name="l00055"></a>00055 {
<a name="l00056"></a>00056     <span class="keywordflow">if</span> (samplingThread_ == NULL)
<a name="l00057"></a>00057     {
<a name="l00058"></a>00058         terminateSamplingThread_ = <span class="keyword">false</span>;
<a name="l00059"></a>00059         samplingThread_ = <span class="keyword">new</span> boost::thread(&amp;<a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#a787aad32e2abd6586ba29f3d3fd866fc" title="The function that samples goals by calling samplerFunc_ in a separate thread.">GoalLazySamples::goalSamplingThread</a>, <span class="keyword">this</span>);
<a name="l00060"></a>00060     }
<a name="l00061"></a>00061 }
<a name="l00062"></a>00062 
<a name="l00063"></a><a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#a6581de7182b474a8f2c6ca6129a8ce9d">00063</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#a6581de7182b474a8f2c6ca6129a8ce9d" title="Stop the goal sampling thread.">ompl::base::GoalLazySamples::stopSampling</a>(<span class="keywordtype">void</span>)
<a name="l00064"></a>00064 {
<a name="l00065"></a>00065     <span class="keywordflow">if</span> (isSampling())
<a name="l00066"></a>00066     {
<a name="l00067"></a>00067         terminateSamplingThread_ = <span class="keyword">true</span>;
<a name="l00068"></a>00068         samplingThread_-&gt;join();
<a name="l00069"></a>00069         <span class="keyword">delete</span> samplingThread_;
<a name="l00070"></a>00070         samplingThread_ = NULL;
<a name="l00071"></a>00071     }
<a name="l00072"></a>00072 }
<a name="l00073"></a>00073 
<a name="l00074"></a><a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#a787aad32e2abd6586ba29f3d3fd866fc">00074</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#a787aad32e2abd6586ba29f3d3fd866fc" title="The function that samples goals by calling samplerFunc_ in a separate thread.">ompl::base::GoalLazySamples::goalSamplingThread</a>(<span class="keywordtype">void</span>)
<a name="l00075"></a>00075 {
<a name="l00076"></a>00076     <span class="comment">// wait for everything to be set up before performing computation</span>
<a name="l00077"></a>00077     <span class="keywordflow">while</span> (!terminateSamplingThread_ &amp;&amp; !si_-&gt;isSetup())
<a name="l00078"></a>00078         boost::this_thread::sleep(<a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1" title="Return the time duration representing a given number of seconds.">time::seconds</a>(0.01));
<a name="l00079"></a>00079 
<a name="l00080"></a>00080     <span class="keywordflow">if</span> (!terminateSamplingThread_ &amp;&amp; samplerFunc_)
<a name="l00081"></a>00081     {
<a name="l00082"></a>00082         <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">ScopedState&lt;&gt;</a> s(si_);
<a name="l00083"></a>00083         <span class="keywordflow">while</span> (!terminateSamplingThread_ &amp;&amp; samplerFunc_(<span class="keyword">this</span>, s.<a class="code" href="classompl_1_1base_1_1ScopedState.html#afc13c57b8379540de664491aa7113c3a" title="Returns a pointer to the contained state.">get</a>()))
<a name="l00084"></a>00084             addStateIfDifferent(s.<a class="code" href="classompl_1_1base_1_1ScopedState.html#afc13c57b8379540de664491aa7113c3a" title="Returns a pointer to the contained state.">get</a>(), minDist_);
<a name="l00085"></a>00085     }
<a name="l00086"></a>00086     terminateSamplingThread_ = <span class="keyword">true</span>;
<a name="l00087"></a>00087 }
<a name="l00088"></a>00088 
<a name="l00089"></a><a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#ad524231e037fc7ce539ede485e240def">00089</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#ad524231e037fc7ce539ede485e240def" title="Return true if the sampling thread is active.">ompl::base::GoalLazySamples::isSampling</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00090"></a>00090 <span class="keyword"></span>{
<a name="l00091"></a>00091     <span class="keywordflow">return</span> terminateSamplingThread_ == <span class="keyword">false</span> &amp;&amp; samplingThread_ != NULL;
<a name="l00092"></a>00092 }
<a name="l00093"></a>00093 
<a name="l00094"></a><a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#a5f1ed43b242503b8031996f83d79e4ab">00094</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#a5f1ed43b242503b8031996f83d79e4ab" title="Return true of maxSampleCount() &gt; 0 or if the sampling thread is active, as in this case it is possib...">ompl::base::GoalLazySamples::canSample</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00095"></a>00095 <span class="keyword"></span>{
<a name="l00096"></a>00096     <span class="keywordflow">return</span> maxSampleCount() &gt; 0 || (terminateSamplingThread_ == <span class="keyword">false</span> &amp;&amp; samplingThread_ != NULL);
<a name="l00097"></a>00097 }
<a name="l00098"></a>00098 
<a name="l00099"></a><a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#ab33e196cd1f63ca75146721ef6f9cdaa">00099</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#ab33e196cd1f63ca75146721ef6f9cdaa" title="Clear all goal states.">ompl::base::GoalLazySamples::clear</a>(<span class="keywordtype">void</span>)
<a name="l00100"></a>00100 {
<a name="l00101"></a>00101     boost::mutex::scoped_lock slock(lock_);
<a name="l00102"></a>00102     <a class="code" href="classompl_1_1base_1_1GoalStates.html#a215641afe30c50665e5e7bde6894e65e" title="Clear all goal states.">GoalStates::clear</a>();
<a name="l00103"></a>00103 }
<a name="l00104"></a>00104 
<a name="l00105"></a><a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#a692bde395578c4fc7e9db960f724832e">00105</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#a692bde395578c4fc7e9db960f724832e" title="Compute the distance to the goal (heuristic). This function is the one used in computing the distance...">ompl::base::GoalLazySamples::distanceGoal</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *st)<span class="keyword"> const</span>
<a name="l00106"></a>00106 <span class="keyword"></span>{
<a name="l00107"></a>00107     boost::mutex::scoped_lock slock(lock_);
<a name="l00108"></a>00108     <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1GoalStates.html#a7f630ce514a5b222e9c27232d3de6a10" title="Compute the distance to the goal (heuristic). This function is the one used in computing the distance...">GoalStates::distanceGoal</a>(st);
<a name="l00109"></a>00109 }
<a name="l00110"></a>00110 
<a name="l00111"></a><a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#a0fb9e9d12bea1de967b6fbc6b6738719">00111</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#a0fb9e9d12bea1de967b6fbc6b6738719" title="Sample a state in the goal region.">ompl::base::GoalLazySamples::sampleGoal</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *st)<span class="keyword"> const</span>
<a name="l00112"></a>00112 <span class="keyword"></span>{
<a name="l00113"></a>00113     boost::mutex::scoped_lock slock(lock_);
<a name="l00114"></a>00114     <a class="code" href="classompl_1_1base_1_1GoalStates.html#a0acc6095d25d837940f21e76bb9793ea" title="Sample a state in the goal region.">GoalStates::sampleGoal</a>(st);
<a name="l00115"></a>00115 }
<a name="l00116"></a>00116 
<a name="l00117"></a><a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#a11885628f6b06904462165fd9d1fc08b">00117</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#a11885628f6b06904462165fd9d1fc08b" title="Add a goal state.">ompl::base::GoalLazySamples::addState</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a>* st)
<a name="l00118"></a>00118 {
<a name="l00119"></a>00119     boost::mutex::scoped_lock slock(lock_);
<a name="l00120"></a>00120     <a class="code" href="classompl_1_1base_1_1GoalStates.html#a6cf378a86fd25680dfaa5b2446598d55" title="Add a goal state.">GoalStates::addState</a>(st);
<a name="l00121"></a>00121 }
<a name="l00122"></a>00122 
<a name="l00123"></a><a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#aa7015a082cbebc65f76d57cc7fc8521a">00123</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1GoalLazySamples.html#aa7015a082cbebc65f76d57cc7fc8521a" title="Add a state st if it further away that minDistance from previously added states. Return true if the s...">ompl::base::GoalLazySamples::addStateIfDifferent</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a>* st, <span class="keywordtype">double</span> minDistance)
<a name="l00124"></a>00124 {
<a name="l00125"></a>00125     boost::mutex::scoped_lock slock(lock_);
<a name="l00126"></a>00126     <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1base_1_1GoalStates.html#a7f630ce514a5b222e9c27232d3de6a10" title="Compute the distance to the goal (heuristic). This function is the one used in computing the distance...">GoalStates::distanceGoal</a>(st) &gt; minDistance)
<a name="l00127"></a>00127     {
<a name="l00128"></a>00128         <a class="code" href="classompl_1_1base_1_1GoalStates.html#a6cf378a86fd25680dfaa5b2446598d55" title="Add a goal state.">GoalStates::addState</a>(st);
<a name="l00129"></a>00129         lastStateAdded_ = <span class="keyword">true</span>;
<a name="l00130"></a>00130     }
<a name="l00131"></a>00131     <span class="keywordflow">else</span>
<a name="l00132"></a>00132         lastStateAdded_ = <span class="keyword">false</span>;
<a name="l00133"></a>00133     <span class="keywordflow">return</span> lastStateAdded_;
<a name="l00134"></a>00134 }
</pre></div></div>
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