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<div class="title">PlannerTerminationCondition.h</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) 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">#ifndef OMPL_BASE_PLANNER_TERMINATION_CONDITION_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_BASE_PLANNER_TERMINATION_CONDITION_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <boost/function.hpp></span>
<a name="l00041"></a>00041 <span class="preprocessor">#include <boost/thread.hpp></span>
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="keyword">namespace </span>ompl
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="keyword">namespace </span>base
<a name="l00047"></a>00047 {
<a name="l00048"></a>00048
<a name="l00056"></a><a class="code" href="namespaceompl_1_1base.html#a23037e2dfd720e4b1b7b4d1c6b09ba1d">00056</a> <span class="keyword">typedef</span> boost::function0<bool> <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>;
<a name="l00057"></a>00057
<a name="l00064"></a><a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">00064</a> <span class="keyword">class </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>
<a name="l00065"></a>00065 {
<a name="l00066"></a>00066 <span class="keyword">public</span>:
<a name="l00067"></a>00067
<a name="l00071"></a><a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html#a05517fe69ab60d6af3402826ab28dfaa">00071</a> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html#a05517fe69ab60d6af3402826ab28dfaa" title="Construct a termination condition. By default, eval() will call the externally specified function fn ...">PlannerTerminationCondition</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 = <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>()) : <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html#a5df0f0d7b343d19b38c29342914f3fd5" title="Function pointer to the piece of code that decides whether a termination condition has been met...">fn_</a>(fn), <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>(false)
<a name="l00072"></a>00072 {
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074
<a name="l00075"></a>00075 <span class="keyword">virtual</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>(<span class="keywordtype">void</span>)
<a name="l00076"></a>00076 {
<a name="l00077"></a>00077 }
<a name="l00078"></a>00078
<a name="l00080"></a><a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html#ac40bbc10f69bdcc59e9270b10d03357c">00080</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html#ac40bbc10f69bdcc59e9270b10d03357c" title="Return true if the planner should stop its computation.">operator()</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00081"></a>00081 <span class="keyword"> </span>{
<a name="l00082"></a>00082 <span class="keywordflow">return</span> <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> || <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html#afb1d7afe583bf5d9380540251e17d723" title="The implementation of some termination condition. By default, this just calls fn_() ...">eval</a>();
<a name="l00083"></a>00083 }
<a name="l00084"></a>00084
<a name="l00086"></a>00086 <span class="keyword">virtual</span> <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...">terminate</a>(<span class="keywordtype">bool</span> flag);
<a name="l00087"></a>00087
<a name="l00089"></a>00089 <span class="keyword">virtual</span> <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_() ...">eval</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00090"></a>00090
<a name="l00091"></a>00091 <span class="keyword">protected</span>:
<a name="l00092"></a>00092
<a name="l00094"></a><a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html#a5df0f0d7b343d19b38c29342914f3fd5">00094</a> <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> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html#a5df0f0d7b343d19b38c29342914f3fd5" title="Function pointer to the piece of code that decides whether a termination condition has been met...">fn_</a>;
<a name="l00095"></a>00095
<a name="l00097"></a><a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html#a34e1d35724c6aaedaae7dc80e7634240">00097</a> <span class="keywordtype">bool</span> <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>;
<a name="l00098"></a>00098 };
<a name="l00099"></a>00099
<a name="l00110"></a><a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html">00110</a> <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html" title="Termination condition with lazy evaluation. This is just as a regular termination condition...">PlannerThreadedTerminationCondition</a> : <span class="keyword">public</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>
<a name="l00111"></a>00111 {
<a name="l00112"></a>00112 <span class="keyword">public</span>:
<a name="l00113"></a>00113
<a name="l00118"></a>00118 <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...">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="l00119"></a>00119
<a name="l00120"></a>00120 <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html" title="Termination condition with lazy evaluation. This is just as a regular termination condition...">PlannerThreadedTerminationCondition</a>(<span class="keywordtype">void</span>);
<a name="l00121"></a>00121
<a name="l00128"></a>00128 <span class="keyword">virtual</span> <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...">terminate</a>(<span class="keywordtype">bool</span> flag);
<a name="l00129"></a>00129
<a name="l00131"></a>00131 <span class="keyword">virtual</span> <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_)">eval</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00132"></a>00132
<a name="l00133"></a>00133 <span class="keyword">protected</span>:
<a name="l00134"></a>00134
<a name="l00136"></a>00136 <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...">computeEval</a>(<span class="keywordtype">void</span>);
<a name="l00137"></a>00137
<a name="l00139"></a>00139 <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.">startEvalThread</a>(<span class="keywordtype">void</span>);
<a name="l00140"></a>00140
<a name="l00142"></a>00142 <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.">stopEvalThread</a>(<span class="keywordtype">void</span>);
<a name="l00143"></a>00143
<a name="l00145"></a>00145 <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())">periodicEval</a>(<span class="keywordtype">void</span>);
<a name="l00146"></a>00146
<a name="l00148"></a><a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#aab2c1e890c0cedb6849a9dad0d56d686">00148</a> boost::thread *<a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#aab2c1e890c0cedb6849a9dad0d56d686" title="Thread for periodicEval()">thread_</a>;
<a name="l00149"></a>00149
<a name="l00151"></a><a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#afefdd25acd6251ec3d9756b352177a23">00151</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#afefdd25acd6251ec3d9756b352177a23" title="Cached value returned by computeEval()">evalValue_</a>;
<a name="l00152"></a>00152
<a name="l00154"></a><a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#adb567d23c1e1ebe7a7e93f03c741523d">00154</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#adb567d23c1e1ebe7a7e93f03c741523d" title="Interval of time (seconds) to wait between calls to computeEval()">period_</a>;
<a name="l00155"></a>00155 };
<a name="l00156"></a>00156
<a name="l00158"></a><a class="code" href="classompl_1_1base_1_1PlannerNonTerminatingCondition.html">00158</a> <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1PlannerNonTerminatingCondition.html" title="Simple termination condition that always returns false. The termination condition will never be met...">PlannerNonTerminatingCondition</a> : <span class="keyword">public</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>
<a name="l00159"></a>00159 {
<a name="l00160"></a>00160 <span class="keyword">public</span>:
<a name="l00161"></a>00161 <a class="code" href="classompl_1_1base_1_1PlannerNonTerminatingCondition.html" title="Simple termination condition that always returns false. The termination condition will never be met...">PlannerNonTerminatingCondition</a>(<span class="keywordtype">void</span>);
<a name="l00162"></a>00162 };
<a name="l00163"></a>00163
<a name="l00165"></a><a class="code" href="classompl_1_1base_1_1PlannerAlwaysTerminatingCondition.html">00165</a> <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1PlannerAlwaysTerminatingCondition.html" title="Simple termination condition that always returns true. The termination condition will always be met...">PlannerAlwaysTerminatingCondition</a> : <span class="keyword">public</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>
<a name="l00166"></a>00166 {
<a name="l00167"></a>00167 <span class="keyword">public</span>:
<a name="l00168"></a>00168 <a class="code" href="classompl_1_1base_1_1PlannerAlwaysTerminatingCondition.html" title="Simple termination condition that always returns true. The termination condition will always be met...">PlannerAlwaysTerminatingCondition</a>(<span class="keywordtype">void</span>);
<a name="l00169"></a>00169 };
<a name="l00170"></a>00170
<a name="l00172"></a><a class="code" href="classompl_1_1base_1_1PlannerOrTerminationCondition.html">00172</a> <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1PlannerOrTerminationCondition.html" title="Combine two termination conditions into one. If either termination condition returns true...">PlannerOrTerminationCondition</a> : <span class="keyword">public</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>
<a name="l00173"></a>00173 {
<a name="l00174"></a>00174 <span class="keyword">public</span>:
<a name="l00175"></a>00175 <a class="code" href="classompl_1_1base_1_1PlannerOrTerminationCondition.html" title="Combine two termination conditions into one. If either termination condition returns true...">PlannerOrTerminationCondition</a>(<span class="keyword">const</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> &c1, <span class="keyword">const</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> &c2);
<a name="l00176"></a>00176 };
<a name="l00177"></a>00177
<a name="l00179"></a><a class="code" href="classompl_1_1base_1_1PlannerAndTerminationCondition.html">00179</a> <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1PlannerAndTerminationCondition.html" title="Combine two termination conditions into one. Both termination conditions need to return true for this...">PlannerAndTerminationCondition</a> : <span class="keyword">public</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>
<a name="l00180"></a>00180 {
<a name="l00181"></a>00181 <span class="keyword">public</span>:
<a name="l00182"></a>00182 <a class="code" href="classompl_1_1base_1_1PlannerAndTerminationCondition.html" title="Combine two termination conditions into one. Both termination conditions need to return true for this...">PlannerAndTerminationCondition</a>(<span class="keyword">const</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> &c1, <span class="keyword">const</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> &c2);
<a name="l00183"></a>00183 };
<a name="l00184"></a>00184
<a name="l00185"></a>00185 <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> timedPlannerTerminationCondition(<span class="keywordtype">double</span> duration);
<a name="l00186"></a>00186 }
<a name="l00187"></a>00187 }
<a name="l00188"></a>00188
<a name="l00189"></a>00189 <span class="preprocessor">#endif</span>
</pre></div></div>
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<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 23:04:39 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div>
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