Definition of a goal region that can be sampled, but the sampling process can be slow. This class allows sampling the happen in a separate thread, and the number of goals may increase, as the planner is running, in a thread-safe manner. More...
#include <GoalLazySamples.h>
Public Member Functions | |
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 that produces samples from that region needs to be passed to this constructor. The sampling thread is automatically started if autoStart is true. | |
virtual void | sampleGoal (State *st) const |
Sample a state in the goal region. | |
virtual double | distanceGoal (const State *st) const |
Compute the distance to the goal (heuristic). This function is the one used in computing the distance to the goal in a call to isSatisfied() | |
virtual void | addState (const State *st) |
Add a goal state. | |
void | startSampling (void) |
Start the goal sampling thread. | |
void | stopSampling (void) |
Stop the goal sampling thread. | |
bool | isSampling (void) const |
Return true if the sampling thread is active. | |
virtual bool | canSample (void) const |
Return true of maxSampleCount() > 0 or if the sampling thread is active, as in this case it is possible a sample can be produced. | |
void | setMinNewSampleDistance (double dist) |
Set the minimum distance that a new state returned by the sampling thread needs to be away from previously added states, so that it is added to the list of goal states. | |
double | getMinNewSampleDistance (void) const |
Get the minimum distance that a new state returned by the sampling thread needs to be away from previously added states, so that it is added to the list of goal states. | |
bool | wasLastStateAdded (void) const |
Return true if the last state returned by the sampling function was added. Return false otherwise. | |
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 state was added. | |
virtual void | clear (void) |
Clear all goal states. | |
Protected Member Functions | |
void | goalSamplingThread (void) |
The function that samples goals by calling samplerFunc_ in a separate thread. | |
Protected Attributes | |
boost::mutex | lock_ |
Lock for updating the set of states. | |
GoalSamplingFn | samplerFunc_ |
Function that produces samples. | |
bool | terminateSamplingThread_ |
Flag used to notify the sampling thread to terminate sampling. | |
boost::thread * | samplingThread_ |
Additional thread for sampling goal states. | |
bool | lastStateAdded_ |
Flag indicating whether the last state returned by the sampling function was added or not. | |
double | minDist_ |
Samples returned by the sampling thread are added to the list of states only if they are at least minDist_ away from already added samples. |
Definition of a goal region that can be sampled, but the sampling process can be slow. This class allows sampling the happen in a separate thread, and the number of goals may increase, as the planner is running, in a thread-safe manner.
Definition at line 71 of file GoalLazySamples.h.
ompl::base::GoalLazySamples::GoalLazySamples | ( | const SpaceInformationPtr & | si, |
const GoalSamplingFn & | samplerFunc, | ||
bool | autoStart = true , |
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double | minDist = std::numeric_limits<double>::epsilon() |
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) |
Create a goal region that can be sampled in a lazy fashion. A function that produces samples from that region needs to be passed to this constructor. The sampling thread is automatically started if autoStart is true.
The function samplerFunc returns a truth value. If the return value is true, further calls to the function can be made. If the return is false, no more calls should be made. The function takes two arguments: the instance of GoalLazySamples making the call and the state to fill with a goal state. For every state filled in by samplerFunc, addStateIfDifferent() is called. A state computed by the sampling thread is added if it is "sufficiently different" from previously added states. A state is considered "sufficiently different" if it is at least minDist away from previously added states.
Definition at line 41 of file GoalLazySamples.cpp.