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/shared_ptr.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 
00070             PlannerTerminationCondition(const PlannerTerminationConditionFn &fn);
00071 
00075             PlannerTerminationCondition(const PlannerTerminationConditionFn &fn, double period);
00076 
00077             ~PlannerTerminationCondition()
00078             {
00079             }
00080 
00082             bool operator()() const
00083             {
00084                 return eval();
00085             }
00086 
00088             operator bool() const
00089             {
00090                 return eval();
00091             }
00092 
00095             void terminate() const;
00096 
00098             bool eval() const;
00099 
00100         private:
00101 
00102             class PlannerTerminationConditionImpl;
00103             boost::shared_ptr<PlannerTerminationConditionImpl> impl_;
00104         };
00105 
00107         PlannerTerminationCondition plannerNonTerminatingCondition();
00108 
00110         PlannerTerminationCondition plannerAlwaysTerminatingCondition();
00111 
00113         PlannerTerminationCondition plannerOrTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2);
00114 
00116         PlannerTerminationCondition plannerAndTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2);
00117 
00119         PlannerTerminationCondition timedPlannerTerminationCondition(double duration);
00120 
00122         PlannerTerminationCondition timedPlannerTerminationCondition(double duration, double interval);
00123     }
00124 }
00125 
00126 #endif
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