/usr/include/ompl/base/PlannerTerminationCondition.h is in libompl-dev 1.2.1+ds1-1build1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 | /*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Rice University
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Rice University nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Ioan Sucan */
#ifndef OMPL_BASE_PLANNER_TERMINATION_CONDITION_
#define OMPL_BASE_PLANNER_TERMINATION_CONDITION_
#include <functional>
#include <memory>
#include <ompl/base/ProblemDefinition.h>
#include <ompl/util/Time.h>
namespace ompl
{
namespace base
{
/** \brief Signature for functions that decide whether termination
conditions have been met for a planner, even if no
solution is found. This is usually reaching a time or
memory limit. If the function returns true, the planner is
signaled to terminate its computation. Otherwise,
computation continues while this function returns false,
until a solution is found. */
typedef std::function<bool()> PlannerTerminationConditionFn;
/** \brief 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 eval() returns true) or if
the user called terminate(true). */
class PlannerTerminationCondition
{
public:
/** \brief Construct a termination condition. By default, eval() will call the externally specified function \e fn to decide whether
the planner should terminate. */
PlannerTerminationCondition(const PlannerTerminationConditionFn &fn);
/** \brief Construct a termination condition that is evaluated every \e period seconds. The evaluation of
the condition consists of calling \e fn() in a separate thread. Calls to eval() will always return the
last value computed by the call to \e fn(). */
PlannerTerminationCondition(const PlannerTerminationConditionFn &fn, double period);
~PlannerTerminationCondition()
{
}
/** \brief Return true if the planner should stop its computation */
bool operator()() const
{
return eval();
}
/** \brief Cast as true if the planner should stop its computation */
operator bool() const
{
return eval();
}
/** \brief Notify that the condition for termination should become true, regardless of what eval() returns.
This function may be called while the condition is being evaluated by other threads. */
void terminate() const;
/** \brief The implementation of some termination condition. By default, this just calls \e fn_() */
bool eval() const;
private:
class PlannerTerminationConditionImpl;
std::shared_ptr<PlannerTerminationConditionImpl> impl_;
};
/** \brief Simple termination condition that always returns false. The termination condition will never be met */
PlannerTerminationCondition plannerNonTerminatingCondition();
/** \brief Simple termination condition that always returns true. The termination condition will always be met */
PlannerTerminationCondition plannerAlwaysTerminatingCondition();
/** \brief Combine two termination conditions into one. If either termination condition returns true, this one will return true as well. */
PlannerTerminationCondition plannerOrTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2);
/** \brief Combine two termination conditions into one. Both termination conditions need to return true for this one to return true. */
PlannerTerminationCondition plannerAndTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2);
/** \brief Return a termination condition that will become true \e duration seconds in the future (wall-time) */
PlannerTerminationCondition timedPlannerTerminationCondition(double duration);
/** \brief Return a termination condition that will become true \e duration in the future (wall-time) */
PlannerTerminationCondition timedPlannerTerminationCondition(time::duration duration);
/** \brief Return a termination condition that will become true \e duration seconds in the future (wall-time), but is checked in a separate thread, every \e interval seconds; \e interval must be less than \e duration */
PlannerTerminationCondition timedPlannerTerminationCondition(double duration, double interval);
/** \brief Return a termination condition that will become true as soon as the problem definition has an exact solution */
PlannerTerminationCondition exactSolnPlannerTerminationCondition(ompl::base::ProblemDefinitionPtr pdef);
/** \brief A class to run a planner for a specific number of iterations. Casts to a PTC for use with Planner::solve */
class IterationTerminationCondition
{
public:
/** \brief Construct a termination condition that can be evaluated numIterations times before returning true. */
IterationTerminationCondition(unsigned int numIterations);
/** \brief Increment the number of times eval has been called and check if the planner should now terminate. */
bool eval();
/** \brief Reset the number of times the IterationTeriminationCondition has been called. */
void reset();
/** \brief Cast to a PlannerTerminationCondition */
operator PlannerTerminationCondition();
private:
/** \brief The max number of iterations the condition can be called before returning true. */
unsigned int maxCalls_;
/** \brief The number of times called so far.*/
unsigned int timesCalled_;
};
}
}
#endif
|