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PlannerTerminationCondition.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_PLANNER_TERMINATION_CONDITION_
38 #define OMPL_BASE_PLANNER_TERMINATION_CONDITION_
39 
40 #include <boost/function.hpp>
41 #include <boost/thread.hpp>
42 
43 namespace ompl
44 {
45 
46  namespace base
47  {
48 
56  typedef boost::function<bool()> PlannerTerminationConditionFn;
57 
65  {
66  public:
67 
72  {
73  }
74 
75  virtual ~PlannerTerminationCondition(void)
76  {
77  }
78 
80  bool operator()(void) const
81  {
82  return terminate_ || eval();
83  }
84 
86  operator bool() const
87  {
88  return terminate_ || eval();
89  }
90 
93  void terminate(void) const;
94 
96  virtual bool eval(void) const;
97 
98  protected:
99 
102 
104  mutable bool terminate_;
105  };
106 
118  {
119  public:
120 
126 
128 
130  virtual bool eval(void) const;
131 
132  protected:
133 
135  bool computeEval(void);
136 
138  void startEvalThread(void);
139 
141  void stopEvalThread(void);
142 
144  void periodicEval(void);
145 
147  boost::thread *thread_;
148 
151 
153  double period_;
154  };
155 
158  {
159  public:
161  };
162 
165  {
166  public:
168  };
169 
172  {
173  public:
175  };
176 
179  {
180  public:
182  };
183 
186 
189  }
190 }
191 
192 #endif