00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, 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 the 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_BASE_GOAL_LAZY_SAMPLES_ 00038 #define OMPL_BASE_GOAL_LAZY_SAMPLES_ 00039 00040 #include "ompl/base/GoalStates.h" 00041 #include <boost/thread/thread.hpp> 00042 #include <boost/function.hpp> 00043 #include <limits> 00044 00045 namespace ompl 00046 { 00047 00048 namespace base 00049 { 00050 00051 class GoalLazySamples; 00052 00055 typedef boost::function2<bool, const GoalLazySamples*, State*> GoalSamplingFn; 00056 00071 class GoalLazySamples : public GoalStates 00072 { 00073 public: 00074 00093 GoalLazySamples(const SpaceInformationPtr &si, const GoalSamplingFn &samplerFunc, 00094 bool autoStart = true, double minDist = std::numeric_limits<double>::epsilon()); 00095 00096 virtual ~GoalLazySamples(void); 00097 00098 virtual void sampleGoal(State *st) const; 00099 00100 virtual double distanceGoal(const State *st) const; 00101 00102 virtual void addState(const State* st); 00103 00105 void startSampling(void); 00106 00108 void stopSampling(void); 00109 00111 bool isSampling(void) const; 00112 00116 virtual bool canSample(void) const; 00117 00120 void setMinNewSampleDistance(double dist) 00121 { 00122 minDist_ = dist; 00123 } 00124 00127 double getMinNewSampleDistance(void) const 00128 { 00129 return minDist_; 00130 } 00131 00133 bool wasLastStateAdded(void) const 00134 { 00135 return lastStateAdded_; 00136 } 00137 00139 bool addStateIfDifferent(const State* st, double minDistance); 00140 00141 virtual void clear(void); 00142 00143 protected: 00144 00146 void goalSamplingThread(void); 00147 00149 mutable boost::mutex lock_; 00150 00152 GoalSamplingFn samplerFunc_; 00153 00155 bool terminateSamplingThread_; 00156 00158 boost::thread *samplingThread_; 00159 00161 bool lastStateAdded_; 00162 00165 double minDist_; 00166 }; 00167 00168 } 00169 } 00170 00171 #endif