ompl/tools/debug/PlannerMonitor.h
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2011, Rice University
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of Rice University nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 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 #ifndef OMPL_TOOLS_DEBUG_PLANNER_MONITOR_
00038 #define OMPL_TOOLS_DEBUG_PLANNER_MONITOR_
00039 
00040 #include <iostream>
00041 #include <boost/scoped_ptr.hpp>
00042 #include <boost/thread.hpp>
00043 #include <boost/noncopyable.hpp>
00044 
00045 #include "ompl/base/Planner.h"
00046 
00047 namespace ompl
00048 {
00049     namespace tools
00050     {
00053         class PlannerMonitor : private boost::noncopyable
00054         {
00055         public:
00056 
00061             PlannerMonitor(const base::PlannerPtr &planner, std::ostream &out, double period = 0.5, bool autoStart = true) :
00062                 planner_(planner), out_(out), period_(period), shouldMonitor_(false)
00063             {
00064                 if (autoStart)
00065                     startMonitor();
00066             }
00067 
00069             ~PlannerMonitor()
00070             {
00071                 stopMonitor();
00072             }
00073 
00075             void startMonitor();
00076 
00078             void stopMonitor();
00079 
00080         private:
00081             void threadFunction();
00082 
00083             base::PlannerPtr                  planner_;
00084             std::ostream                     &out_;
00085             double                            period_;
00086             bool                              shouldMonitor_;
00087             boost::scoped_ptr<boost::thread>  monitorThread_;
00088         };
00089     }
00090 }
00091 
00092 #endif
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines