PlannerTerminationCondition.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_PLANNER_TERMINATION_CONDITION_
#define OMPL_BASE_PLANNER_TERMINATION_CONDITION_

#include <boost/function.hpp>
#include <boost/thread.hpp>

namespace ompl
{

    namespace base
    {

        typedef boost::function0<bool> PlannerTerminationConditionFn;

        class PlannerTerminationCondition
        {
        public:

            PlannerTerminationCondition(const PlannerTerminationConditionFn &fn = PlannerTerminationConditionFn()) : fn_(fn), terminate_(false)
            {
            }

            virtual ~PlannerTerminationCondition(void)
            {
            }

            bool operator()(void) const
            {
                return terminate_ || eval();
            }

            virtual void terminate(bool flag);

            virtual bool eval(void) const;

        protected:

            PlannerTerminationConditionFn fn_;

            bool                          terminate_;
        };

        class PlannerNonTerminatingCondition : public PlannerTerminationCondition
        {
        public:
            PlannerNonTerminatingCondition(void);
        };

        class PlannerAlwaysTerminatingCondition : public PlannerTerminationCondition
        {
        public:
            PlannerAlwaysTerminatingCondition(void);
        };

        class PlannerThreadedTerminationCondition : public PlannerTerminationCondition
        {
        public:

            PlannerThreadedTerminationCondition(double period);

            PlannerThreadedTerminationCondition(const PlannerTerminationConditionFn &fn, double period);

            virtual ~PlannerThreadedTerminationCondition(void);

            virtual void terminate(bool flag);

            virtual bool eval(void) const;

        protected:

            virtual bool computeEval(void);

            void startEvalThread(void);

            void stopEvalThread(void);

            void periodicEval(void);

            boost::thread *thread_;

            bool           evalValue_;

            double         period_;
        };

        class PlannerOrTerminationCondition : public PlannerTerminationCondition
        {
        public:
            PlannerOrTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2) :
                PlannerTerminationCondition(), c1_(c1), c2_(c2)
            {
            }

            virtual bool eval(void) const;

        private:

            PlannerTerminationCondition c1_;
            PlannerTerminationCondition c2_;
        };

        class PlannerAndTerminationCondition : public PlannerTerminationCondition
        {
        public:
            PlannerAndTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2) :
                PlannerTerminationCondition(), c1_(c1), c2_(c2)
            {
            }

            virtual bool eval(void) const;

        private:

            PlannerTerminationCondition c1_;
            PlannerTerminationCondition c2_;
        };


        PlannerTerminationCondition operator+(const PlannerTerminationCondition &a, const PlannerTerminationCondition &b);

        PlannerTerminationCondition operator*(const PlannerTerminationCondition &a, const PlannerTerminationCondition &b);

        PlannerTerminationCondition timedPlannerTerminationCondition(double duration);
    }

}

#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