PlannerTerminationCondition.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_PLANNER_TERMINATION_CONDITION_
38 #define OMPL_BASE_PLANNER_TERMINATION_CONDITION_
39 
40 #include <boost/function.hpp>
41 #include <boost/shared_ptr.hpp>
42 
43 namespace ompl
44 {
45 
46  namespace base
47  {
48 
56  typedef boost::function<bool()> PlannerTerminationConditionFn;
57 
65  {
66  public:
67 
70  PlannerTerminationCondition(const PlannerTerminationConditionFn &fn);
71 
75  PlannerTerminationCondition(const PlannerTerminationConditionFn &fn, double period);
76 
78  {
79  }
80 
82  bool operator()() const
83  {
84  return eval();
85  }
86 
88  operator bool() const
89  {
90  return eval();
91  }
92 
95  void terminate() const;
96 
98  bool eval() const;
99 
100  private:
101 
102  class PlannerTerminationConditionImpl;
103  boost::shared_ptr<PlannerTerminationConditionImpl> impl_;
104  };
105 
108 
111 
114 
117 
120 
122  PlannerTerminationCondition timedPlannerTerminationCondition(double duration, double interval);
123  }
124 }
125 
126 #endif
PlannerTerminationCondition plannerOrTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2)
Combine two termination conditions into one. If either termination condition returns true...
PlannerTerminationCondition plannerNonTerminatingCondition()
Simple termination condition that always returns false. The termination condition will never be met...
bool eval() const
The implementation of some termination condition. By default, this just calls fn_() ...
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
PlannerTerminationCondition plannerAndTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2)
Combine two termination conditions into one. Both termination conditions need to return true for this...
PlannerTerminationCondition plannerAlwaysTerminatingCondition()
Simple termination condition that always returns true. The termination condition will always be met...
PlannerTerminationCondition timedPlannerTerminationCondition(double duration)
Return a termination condition that will become true duration seconds in the future (wall-time) ...
Main namespace. Contains everything in this library.
Definition: Cost.h:42
bool operator()() const
Return true if the planner should stop its computation.
PlannerTerminationCondition(const PlannerTerminationConditionFn &fn)
Construct a termination condition. By default, eval() will call the externally specified function fn ...
void terminate() const
Notify that the condition for termination should become true, regardless of what eval() returns...
boost::function< bool()> PlannerTerminationConditionFn
Signature for functions that decide whether termination conditions have been met for a planner...