ompl/base/goals/GoalLazySamples.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_GOALS_GOAL_LAZY_SAMPLES_
00038 #define OMPL_BASE_GOALS_GOAL_LAZY_SAMPLES_
00039 
00040 #include "ompl/base/goals/GoalStates.h"
00041 #include <boost/thread/thread.hpp>
00042 #include <boost/function.hpp>
00043 #include <limits>
00044 
00045 namespace ompl
00046 {
00047 
00048     namespace base
00049     {
00050 
00051         class GoalLazySamples;
00052 
00056         typedef boost::function<bool(const GoalLazySamples*, State*)> GoalSamplingFn;
00057 
00072         class GoalLazySamples : public GoalStates
00073         {
00074         public:
00075 
00079             typedef boost::function<void(const base::State*)> NewStateCallbackFn;
00080 
00104             GoalLazySamples(const SpaceInformationPtr &si, const GoalSamplingFn &samplerFunc,
00105                             bool autoStart = true, double minDist = std::numeric_limits<double>::epsilon());
00106 
00107             virtual ~GoalLazySamples();
00108 
00109             virtual void sampleGoal(State *st) const;
00110 
00111             virtual double distanceGoal(const State *st) const;
00112 
00113             virtual void addState(const State *st);
00114 
00116             void startSampling();
00117 
00119             void stopSampling();
00120 
00122             bool isSampling() const;
00123 
00126             void setMinNewSampleDistance(double dist)
00127             {
00128                 minDist_ = dist;
00129             }
00130 
00133             double getMinNewSampleDistance() const
00134             {
00135                 return minDist_;
00136             }
00137 
00139             unsigned int samplingAttemptsCount() const
00140             {
00141                 return samplingAttempts_;
00142             }
00143 
00146             void setNewStateCallback(const NewStateCallbackFn &callback);
00147 
00149             bool addStateIfDifferent(const State *st, double minDistance);
00150 
00152             virtual bool couldSample() const;
00153 
00154             virtual bool hasStates() const;
00155             virtual const State* getState(unsigned int index) const;
00156             virtual std::size_t getStateCount() const;
00157 
00158             virtual void clear();
00159 
00160         protected:
00161 
00163             void goalSamplingThread();
00164 
00166             mutable boost::mutex           lock_;
00167 
00169             GoalSamplingFn                 samplerFunc_;
00170 
00172             bool                           terminateSamplingThread_;
00173 
00175             boost::thread                 *samplingThread_;
00176 
00178             unsigned int                   samplingAttempts_;
00179 
00182             double                         minDist_;
00183 
00185             NewStateCallbackFn             callback_;
00186         };
00187 
00188     }
00189 }
00190 
00191 #endif
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