GoalLazySamples.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_GOAL_LAZY_SAMPLES_
#define OMPL_BASE_GOAL_LAZY_SAMPLES_

#include "ompl/base/GoalStates.h"
#include <boost/thread/thread.hpp>
#include <boost/function.hpp>
#include <limits>

namespace ompl
{

    namespace base
    {

        class GoalLazySamples;

        typedef boost::function2<bool, const GoalLazySamples*, State*> GoalSamplingFn;

        class GoalLazySamples : public GoalStates
        {
        public:

            GoalLazySamples(const SpaceInformationPtr &si, const GoalSamplingFn &samplerFunc,
                            bool autoStart = true, double minDist = std::numeric_limits<double>::epsilon());

            virtual ~GoalLazySamples(void);

            virtual void sampleGoal(State *st) const;

            virtual double distanceGoal(const State *st) const;

            virtual void addState(const State* st);

            void startSampling(void);

            void stopSampling(void);

            bool isSampling(void) const;

            virtual bool canSample(void) const;

            void setMinNewSampleDistance(double dist)
            {
                minDist_ = dist;
            }

            double getMinNewSampleDistance(void) const
            {
                return minDist_;
            }

            bool wasLastStateAdded(void) const
            {
                return lastStateAdded_;
            }

            bool addStateIfDifferent(const State* st, double minDistance);

            virtual void clear(void);

        protected:

            void goalSamplingThread(void);

            mutable boost::mutex           lock_;

            GoalSamplingFn                 samplerFunc_;

            bool                           terminateSamplingThread_;

            boost::thread                 *samplingThread_;

            bool                           lastStateAdded_;

            double                         minDist_;
        };

    }
}

#endif

---

ompl
Author(s): Ioan Sucan/isucan@rice.edu, Mark Moll/mmoll@rice.edu, Lydia Kavraki/kavraki@rice.edu
autogenerated on Fri Jan 11 09:33:19 2013