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src/ompl/base/PlannerTerminationCondition.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_PLANNER_TERMINATION_CONDITION_
00038 #define OMPL_BASE_PLANNER_TERMINATION_CONDITION_
00039 
00040 #include <boost/function.hpp>
00041 #include <boost/thread.hpp>
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace base
00047     {
00048 
00056         typedef boost::function<bool()> PlannerTerminationConditionFn;
00057 
00064         class PlannerTerminationCondition
00065         {
00066         public:
00067 
00071             PlannerTerminationCondition(const PlannerTerminationConditionFn &fn = PlannerTerminationConditionFn()) : fn_(fn), terminate_(false)
00072             {
00073             }
00074 
00075             virtual ~PlannerTerminationCondition(void)
00076             {
00077             }
00078 
00080             bool operator()(void) const
00081             {
00082                 return terminate_ || eval();
00083             }
00084 
00087             void terminate(void) const;
00088 
00090             virtual bool eval(void) const;
00091 
00092         protected:
00093 
00095             PlannerTerminationConditionFn fn_;
00096 
00098             mutable bool                  terminate_;
00099         };
00100 
00111         class PlannerThreadedTerminationCondition : public PlannerTerminationCondition
00112         {
00113         public:
00114 
00119             PlannerThreadedTerminationCondition(const PlannerTerminationConditionFn &fn, double period);
00120 
00121             virtual ~PlannerThreadedTerminationCondition(void);
00122 
00124             virtual bool eval(void) const;
00125 
00126         protected:
00127 
00129             bool computeEval(void);
00130 
00132             void startEvalThread(void);
00133 
00135             void stopEvalThread(void);
00136 
00138             void periodicEval(void);
00139 
00141             boost::thread *thread_;
00142 
00144             bool           evalValue_;
00145 
00147             double         period_;
00148         };
00149 
00151         class PlannerNonTerminatingCondition : public PlannerTerminationCondition
00152         {
00153         public:
00154             PlannerNonTerminatingCondition(void);
00155         };
00156 
00158         class PlannerAlwaysTerminatingCondition : public PlannerTerminationCondition
00159         {
00160         public:
00161             PlannerAlwaysTerminatingCondition(void);
00162         };
00163 
00165         class PlannerOrTerminationCondition : public PlannerTerminationCondition
00166         {
00167         public:
00168             PlannerOrTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2);
00169         };
00170 
00172         class PlannerAndTerminationCondition : public PlannerTerminationCondition
00173         {
00174         public:
00175             PlannerAndTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2);
00176         };
00177 
00179         PlannerTerminationCondition         timedPlannerTerminationCondition(double duration);
00180 
00182         PlannerThreadedTerminationCondition timedPlannerTerminationCondition(double duration, double interval);
00183     }
00184 }
00185 
00186 #endif
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