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<a href="#pub-methods">Public Member Functions</a> &#124;
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<!-- doxytag: class="ompl::base::PlannerTerminationCondition" -->
<p>Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whether they should terminate before a solution is found or not. operator() will return true if either the implemented condition is met (the call to <a class="el" href="classompl_1_1base_1_1PlannerTerminationCondition.html#afb1d7afe583bf5d9380540251e17d723" title="The implementation of some termination condition. By default, this just calls fn_() ...">eval()</a> returns true) or if the user called terminate(true).  
 <a href="classompl_1_1base_1_1PlannerTerminationCondition.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="PlannerTerminationCondition_8h_source.html">PlannerTerminationCondition.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for ompl::base::PlannerTerminationCondition:</div>
<div class="dyncontent">
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<area shape="rect" id="node3" href="classompl_1_1base_1_1PlannerAlwaysTerminatingCondition.html" title="Simple termination condition that always returns true. The termination condition will always be met..." alt="" coords="320,5,624,35"/><area shape="rect" id="node5" href="classompl_1_1base_1_1PlannerAndTerminationCondition.html" title="Combine two termination conditions into one. Both termination conditions need to return true for this..." alt="" coords="331,59,613,88"/><area shape="rect" id="node7" href="classompl_1_1base_1_1PlannerNonTerminatingCondition.html" title="Simple termination condition that always returns false. The termination condition will never be met..." alt="" coords="329,112,615,141"/><area shape="rect" id="node9" href="classompl_1_1base_1_1PlannerOrTerminationCondition.html" title="Combine two termination conditions into one. If either termination condition returns true..." alt="" coords="335,165,609,195"/><area shape="rect" id="node11" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html" title="Termination condition with lazy evaluation. This is just as a regular termination condition..." alt="" coords="315,219,629,248"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>

<p><a href="classompl_1_1base_1_1PlannerTerminationCondition-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a05517fe69ab60d6af3402826ab28dfaa"></a><!-- doxytag: member="ompl::base::PlannerTerminationCondition::PlannerTerminationCondition" ref="a05517fe69ab60d6af3402826ab28dfaa" args="(const PlannerTerminationConditionFn &amp;fn=PlannerTerminationConditionFn())" -->
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerTerminationCondition.html#a05517fe69ab60d6af3402826ab28dfaa">PlannerTerminationCondition</a> (const <a class="el" href="namespaceompl_1_1base.html#a23037e2dfd720e4b1b7b4d1c6b09ba1d">PlannerTerminationConditionFn</a> &amp;fn=<a class="el" href="namespaceompl_1_1base.html#a23037e2dfd720e4b1b7b4d1c6b09ba1d">PlannerTerminationConditionFn</a>())</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a termination condition. By default, <a class="el" href="classompl_1_1base_1_1PlannerTerminationCondition.html#afb1d7afe583bf5d9380540251e17d723" title="The implementation of some termination condition. By default, this just calls fn_() ...">eval()</a> will call the externally specified function <em>fn</em> to decide whether the planner should terminate. The function <em>fn</em> does not always need to be specified, if a different implementation of <a class="el" href="classompl_1_1base_1_1PlannerTerminationCondition.html#afb1d7afe583bf5d9380540251e17d723" title="The implementation of some termination condition. By default, this just calls fn_() ...">eval()</a> is provided by a derived class. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac40bbc10f69bdcc59e9270b10d03357c"></a><!-- doxytag: member="ompl::base::PlannerTerminationCondition::operator()" ref="ac40bbc10f69bdcc59e9270b10d03357c" args="(void) const " -->
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerTerminationCondition.html#ac40bbc10f69bdcc59e9270b10d03357c">operator()</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Return true if the planner should stop its computation. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae65bf5a4796d46c52112b9dd85f6984a"></a><!-- doxytag: member="ompl::base::PlannerTerminationCondition::terminate" ref="ae65bf5a4796d46c52112b9dd85f6984a" args="(bool flag)" -->
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerTerminationCondition.html#ae65bf5a4796d46c52112b9dd85f6984a">terminate</a> (bool flag)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Notify that the condition for termination should become true, regardless of what <a class="el" href="classompl_1_1base_1_1PlannerTerminationCondition.html#afb1d7afe583bf5d9380540251e17d723" title="The implementation of some termination condition. By default, this just calls fn_() ...">eval()</a> returns. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afb1d7afe583bf5d9380540251e17d723"></a><!-- doxytag: member="ompl::base::PlannerTerminationCondition::eval" ref="afb1d7afe583bf5d9380540251e17d723" args="(void) const " -->
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerTerminationCondition.html#afb1d7afe583bf5d9380540251e17d723">eval</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The implementation of some termination condition. By default, this just calls <em><a class="el" 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></em> <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5df0f0d7b343d19b38c29342914f3fd5"></a><!-- doxytag: member="ompl::base::PlannerTerminationCondition::fn_" ref="a5df0f0d7b343d19b38c29342914f3fd5" args="" -->
<a class="el" href="namespaceompl_1_1base.html#a23037e2dfd720e4b1b7b4d1c6b09ba1d">PlannerTerminationConditionFn</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerTerminationCondition.html#a5df0f0d7b343d19b38c29342914f3fd5">fn_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Function pointer to the piece of code that decides whether a termination condition has been met. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a34e1d35724c6aaedaae7dc80e7634240"></a><!-- doxytag: member="ompl::base::PlannerTerminationCondition::terminate_" ref="a34e1d35724c6aaedaae7dc80e7634240" args="" -->
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerTerminationCondition.html#a34e1d35724c6aaedaae7dc80e7634240">terminate_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Flag indicating whether the user has externally requested that the condition for termination should become true. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whether they should terminate before a solution is found or not. operator() will return true if either the implemented condition is met (the call to <a class="el" href="classompl_1_1base_1_1PlannerTerminationCondition.html#afb1d7afe583bf5d9380540251e17d723" title="The implementation of some termination condition. By default, this just calls fn_() ...">eval()</a> returns true) or if the user called terminate(true). </p>

<p>Definition at line <a class="el" href="PlannerTerminationCondition_8h_source.html#l00064">64</a> of file <a class="el" href="PlannerTerminationCondition_8h_source.html">PlannerTerminationCondition.h</a>.</p>
</div><hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/base/<a class="el" href="PlannerTerminationCondition_8h_source.html">PlannerTerminationCondition.h</a></li>
<li>src/ompl/base/src/<a class="el" href="PlannerTerminationCondition_8cpp_source.html">PlannerTerminationCondition.cpp</a></li>
</ul>
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