ompl::base::PlannerThreadedTerminationCondition Class Reference

Termination condition with lazy evaluation. This is just as a regular termination condition, except the condition is actually evaluated by computeEval() and the return value is stored in evalValue_. Every time eval() is called, evalValue_ is returned instead of actually evaluating the termination condition. Furthermore, the termination condition is evaluated every period_ seconds in a separate thread. The thread automatically starts when the condition is constructed and it terminates when the condition becomes true. More...

#include <PlannerTerminationCondition.h>

Inheritance diagram for ompl::base::PlannerThreadedTerminationCondition:

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List of all members.

Public Member Functions
virtual bool	eval (void) const
	Simply return the cached value for the termination condition (evalValue_).
	PlannerThreadedTerminationCondition (const PlannerTerminationConditionFn &fn, double period)
	Construct a termination condition that is evaluated every period seconds. The evaluation of the condition (the call to computeEval()) consists of calling fn().
	PlannerThreadedTerminationCondition (double period)
	Construct a termination condition that is evaluated every period seconds. An implementation of computeEval() other than the default needs to be provided.
virtual void	terminate (bool flag)
	Notify that the condition for termination should become true, regardless of what eval() returns. Furthermore, if flag is true and the thread evaluating the termination condition is active, the thread is terminated. The tread will be restarted if flag = false is passed.
virtual	~PlannerThreadedTerminationCondition (void)
Protected Member Functions
virtual bool	computeEval (void)
	Evaluate the termination condition. By default this is a call to fn_() from the base class.
void	periodicEval (void)
	Worker function that runs in a separate thread (calls computeEval()).
void	startEvalThread (void)
	Start the thread evaluating termination conditions if not already started.
void	stopEvalThread (void)
	Stop the thread evaluating termination conditions if not already stopped.
Protected Attributes
bool	evalValue_
	Cached value returned by computeEval().
double	period_
	Interval of time (seconds) to wait between calls to computeEval().
boost::thread *	thread_
	Thread for periodicEval().

Detailed Description

Termination condition with lazy evaluation. This is just as a regular termination condition, except the condition is actually evaluated by computeEval() and the return value is stored in evalValue_. Every time eval() is called, evalValue_ is returned instead of actually evaluating the termination condition. Furthermore, the termination condition is evaluated every period_ seconds in a separate thread. The thread automatically starts when the condition is constructed and it terminates when the condition becomes true.

Definition at line 124 of file PlannerTerminationCondition.h.

Constructor & Destructor Documentation

ompl::base::PlannerThreadedTerminationCondition::PlannerThreadedTerminationCondition ( double period )

Construct a termination condition that is evaluated every period seconds. An implementation of computeEval() other than the default needs to be provided.

ompl::base::PlannerThreadedTerminationCondition::PlannerThreadedTerminationCondition	(	const PlannerTerminationConditionFn &	fn,
		double	period
	)

Construct a termination condition that is evaluated every period seconds. The evaluation of the condition (the call to computeEval()) consists of calling fn().

virtual ompl::base::PlannerThreadedTerminationCondition::~PlannerThreadedTerminationCondition ( void ) [virtual]

Member Function Documentation

virtual bool ompl::base::PlannerThreadedTerminationCondition::computeEval ( void ) [protected, virtual]

Evaluate the termination condition. By default this is a call to fn_() from the base class.

virtual bool ompl::base::PlannerThreadedTerminationCondition::eval ( void ) const [virtual]

Simply return the cached value for the termination condition (evalValue_).

Reimplemented from ompl::base::PlannerTerminationCondition.

void ompl::base::PlannerThreadedTerminationCondition::periodicEval ( void ) [protected]

Worker function that runs in a separate thread (calls computeEval()).

void ompl::base::PlannerThreadedTerminationCondition::startEvalThread ( void ) [protected]

Start the thread evaluating termination conditions if not already started.

void ompl::base::PlannerThreadedTerminationCondition::stopEvalThread ( void ) [protected]

Stop the thread evaluating termination conditions if not already stopped.

virtual void ompl::base::PlannerThreadedTerminationCondition::terminate ( bool flag ) [virtual]

Notify that the condition for termination should become true, regardless of what eval() returns. Furthermore, if flag is true and the thread evaluating the termination condition is active, the thread is terminated. The tread will be restarted if flag = false is passed.

Reimplemented from ompl::base::PlannerTerminationCondition.