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/* Author: Ioan Sucan */
#ifndef OMPL_BASE_PLANNER_TERMINATION_CONDITION_
#define OMPL_BASE_PLANNER_TERMINATION_CONDITION_
#include <boost/function.hpp>
#include <boost/shared_ptr.hpp>
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 boost::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;
boost::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 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);
}
}
#endif
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