ompl/base/goals/src/GoalLazySamples.cpp
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #include "ompl/base/goals/GoalLazySamples.h" 00038 #include "ompl/base/ScopedState.h" 00039 #include "ompl/util/Time.h" 00040 00041 ompl::base::GoalLazySamples::GoalLazySamples(const SpaceInformationPtr &si, const GoalSamplingFn &samplerFunc, bool autoStart, double minDist) : 00042 GoalStates(si), samplerFunc_(samplerFunc), terminateSamplingThread_(false), samplingThread_(NULL), samplingAttempts_(0), minDist_(minDist) 00043 { 00044 type_ = GOAL_LAZY_SAMPLES; 00045 if (autoStart) 00046 startSampling(); 00047 } 00048 00049 ompl::base::GoalLazySamples::~GoalLazySamples() 00050 { 00051 stopSampling(); 00052 } 00053 00054 void ompl::base::GoalLazySamples::startSampling() 00055 { 00056 if (samplingThread_ == NULL) 00057 { 00058 OMPL_DEBUG("Starting goal sampling thread"); 00059 terminateSamplingThread_ = false; 00060 samplingThread_ = new boost::thread(&GoalLazySamples::goalSamplingThread, this); 00061 } 00062 } 00063 00064 void ompl::base::GoalLazySamples::stopSampling() 00065 { 00066 if (isSampling()) 00067 { 00068 OMPL_DEBUG("Attempting to stop goal sampling thread..."); 00069 terminateSamplingThread_ = true; 00070 samplingThread_->join(); 00071 delete samplingThread_; 00072 samplingThread_ = NULL; 00073 } 00074 else 00075 if (samplingThread_) 00076 { // join a finished thread 00077 samplingThread_->join(); 00078 delete samplingThread_; 00079 samplingThread_ = NULL; 00080 } 00081 } 00082 00083 void ompl::base::GoalLazySamples::goalSamplingThread() 00084 { 00085 if (!si_->isSetup()) 00086 { 00087 OMPL_DEBUG("Waiting for space information to be set up before the sampling thread can begin computation..."); 00088 // wait for everything to be set up before performing computation 00089 while (!terminateSamplingThread_ && !si_->isSetup()) 00090 boost::this_thread::sleep(time::seconds(0.01)); 00091 } 00092 unsigned int prevsa = samplingAttempts_; 00093 if (!terminateSamplingThread_ && samplerFunc_) 00094 { 00095 OMPL_DEBUG("Beginning sampling thread computation"); 00096 ScopedState<> s(si_); 00097 while (!terminateSamplingThread_ && samplerFunc_(this, s.get())) 00098 { 00099 ++samplingAttempts_; 00100 if (si_->satisfiesBounds(s.get()) && si_->isValid(s.get())) 00101 addStateIfDifferent(s.get(), minDist_); 00102 } 00103 } 00104 else 00105 OMPL_WARN("Goal sampling thread never did any work.%s", 00106 samplerFunc_ ? (si_->isSetup() ? "" : " Space information not set up.") : " No sampling function set."); 00107 terminateSamplingThread_ = true; 00108 OMPL_DEBUG("Stopped goal sampling thread after %u sampling attempts", samplingAttempts_ - prevsa); 00109 } 00110 00111 bool ompl::base::GoalLazySamples::isSampling() const 00112 { 00113 return terminateSamplingThread_ == false && samplingThread_ != NULL; 00114 } 00115 00116 bool ompl::base::GoalLazySamples::couldSample() const 00117 { 00118 return canSample() || isSampling(); 00119 } 00120 00121 void ompl::base::GoalLazySamples::clear() 00122 { 00123 boost::mutex::scoped_lock slock(lock_); 00124 GoalStates::clear(); 00125 } 00126 00127 double ompl::base::GoalLazySamples::distanceGoal(const State *st) const 00128 { 00129 boost::mutex::scoped_lock slock(lock_); 00130 return GoalStates::distanceGoal(st); 00131 } 00132 00133 void ompl::base::GoalLazySamples::sampleGoal(base::State *st) const 00134 { 00135 boost::mutex::scoped_lock slock(lock_); 00136 GoalStates::sampleGoal(st); 00137 } 00138 00139 void ompl::base::GoalLazySamples::setNewStateCallback(const NewStateCallbackFn &callback) 00140 { 00141 callback_ = callback; 00142 } 00143 00144 void ompl::base::GoalLazySamples::addState(const State *st) 00145 { 00146 boost::mutex::scoped_lock slock(lock_); 00147 GoalStates::addState(st); 00148 } 00149 00150 const ompl::base::State* ompl::base::GoalLazySamples::getState(unsigned int index) const 00151 { 00152 boost::mutex::scoped_lock slock(lock_); 00153 return GoalStates::getState(index); 00154 } 00155 00156 bool ompl::base::GoalLazySamples::hasStates() const 00157 { 00158 boost::mutex::scoped_lock slock(lock_); 00159 return GoalStates::hasStates(); 00160 } 00161 00162 std::size_t ompl::base::GoalLazySamples::getStateCount() const 00163 { 00164 boost::mutex::scoped_lock slock(lock_); 00165 return GoalStates::getStateCount(); 00166 } 00167 00168 bool ompl::base::GoalLazySamples::addStateIfDifferent(const State *st, double minDistance) 00169 { 00170 const base::State *newState = NULL; 00171 bool added = false; 00172 { 00173 boost::mutex::scoped_lock slock(lock_); 00174 if (GoalStates::distanceGoal(st) > minDistance) 00175 { 00176 GoalStates::addState(st); 00177 added = true; 00178 if (callback_) 00179 newState = states_.back(); 00180 } 00181 } 00182 00183 // the lock is released at this; if needed, issue a call to the callback 00184 if (newState) 00185 callback_(newState); 00186 return added; 00187 }