GoalLazySamples.cpp
41 ompl::base::GoalLazySamples::GoalLazySamples(const SpaceInformationPtr &si, const GoalSamplingFn &samplerFunc, bool autoStart, double minDist) :
42 GoalStates(si), samplerFunc_(samplerFunc), terminateSamplingThread_(false), samplingThread_(NULL), samplingAttempts_(0), minDist_(minDist)
87 OMPL_DEBUG("Waiting for space information to be set up before the sampling thread can begin computation...");
106 samplerFunc_ ? (si_->isSetup() ? "" : " Space information not set up.") : " No sampling function set.");
108 OMPL_DEBUG("Stopped goal sampling thread after %u sampling attempts", samplingAttempts_ - prevsa);
virtual bool couldSample() const
Return true if GoalStates::couldSample() is true or if the sampling thread is active, as in this case it is possible a sample can be produced at some point.
Definition: GoalLazySamples.cpp:116
void goalSamplingThread()
The function that samples goals by calling samplerFunc_ in a separate thread.
Definition: GoalLazySamples.cpp:83
virtual std::size_t getStateCount() const
Return the number of valid goal states.
Definition: GoalStates.cpp:113
virtual bool hasStates() const
Check if there are any states in this goal region.
Definition: GoalStates.cpp:118
virtual double distanceGoal(const State *st) const
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
Definition: GoalStates.cpp:60
boost::function< void(const base::State *)> NewStateCallbackFn
When new samples are generated and added to the list of possible samples, a callback can be called...
Definition: GoalLazySamples.h:79
virtual void sampleGoal(State *st) const
Sample a state in the goal region.
Definition: GoalLazySamples.cpp:133
virtual const State * getState(unsigned int index) const
Return a pointer to the indexth state in the state list.
Definition: GoalLazySamples.cpp:150
bool addStateIfDifferent(const State *st, double minDistance)
Add a state st if it further away that minDistance from previously added states. Return true if the s...
Definition: GoalLazySamples.cpp:168
virtual const State * getState(unsigned int index) const
Return a pointer to the indexth state in the state list.
Definition: GoalStates.cpp:105
duration seconds(double sec)
Return the time duration representing a given number of seconds.
Definition: Time.h:62
virtual void sampleGoal(State *st) const
Sample a state in the goal region.
Definition: GoalStates.cpp:82
void setNewStateCallback(const NewStateCallbackFn &callback)
Set the callback function to be called when a new state is added to the list of possible samples...
Definition: GoalLazySamples.cpp:139
virtual bool hasStates() const
Check if there are any states in this goal region.
Definition: GoalLazySamples.cpp:156
GoalLazySamples(const SpaceInformationPtr &si, const GoalSamplingFn &samplerFunc, bool autoStart=true, double minDist=std::numeric_limits< double >::epsilon())
Create a goal region that can be sampled in a lazy fashion. A function (samplerFunc) that produces sa...
Definition: GoalLazySamples.cpp:41
A boost shared pointer wrapper for ompl::base::SpaceInformation.
virtual std::size_t getStateCount() const
Return the number of valid goal states.
Definition: GoalLazySamples.cpp:162
virtual double distanceGoal(const State *st) const
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
Definition: GoalLazySamples.cpp:127
boost::function< bool(const GoalLazySamples *, State *)> GoalSamplingFn
Goal sampling function. Returns false when no further calls should be made to it. Fills its second ar...
Definition: GoalLazySamples.h:51
This bit is set if casting to goal states (ompl::base::GoalLazySamples) is possible.
Definition: GoalTypes.h:64
bool isSampling() const
Return true if the sampling thread is active.
Definition: GoalLazySamples.cpp:111