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PlannerTerminationCondition.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_PLANNER_TERMINATION_CONDITION_
00038 #define OMPL_BASE_PLANNER_TERMINATION_CONDITION_
00039 
00040 #include <boost/function.hpp>
00041 #include <boost/thread.hpp>
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace base
00047     {
00048 
00056         typedef boost::function0<bool> PlannerTerminationConditionFn;
00057 
00064         class PlannerTerminationCondition
00065         {
00066         public:
00067 
00071             PlannerTerminationCondition(const PlannerTerminationConditionFn &fn = PlannerTerminationConditionFn()) : fn_(fn), terminate_(false)
00072             {
00073             }
00074 
00075             virtual ~PlannerTerminationCondition(void)
00076             {
00077             }
00078 
00080             bool operator()(void) const
00081             {
00082                 return terminate_ || eval();
00083             }
00084 
00086             virtual void terminate(bool flag);
00087 
00089             virtual bool eval(void) const;
00090 
00091         protected:
00092 
00094             PlannerTerminationConditionFn fn_;
00095 
00097             bool                          terminate_;
00098         };
00099 
00110         class PlannerThreadedTerminationCondition : public PlannerTerminationCondition
00111         {
00112         public:
00113 
00118             PlannerThreadedTerminationCondition(const PlannerTerminationConditionFn &fn, double period);
00119 
00120             virtual ~PlannerThreadedTerminationCondition(void);
00121 
00128             virtual void terminate(bool flag);
00129 
00131             virtual bool eval(void) const;
00132 
00133         protected:
00134 
00136             bool computeEval(void);
00137 
00139             void startEvalThread(void);
00140 
00142             void stopEvalThread(void);
00143 
00145             void periodicEval(void);
00146 
00148             boost::thread *thread_;
00149 
00151             bool           evalValue_;
00152 
00154             double         period_;
00155         };
00156 
00158         class PlannerNonTerminatingCondition : public PlannerTerminationCondition
00159         {
00160         public:
00161             PlannerNonTerminatingCondition(void);
00162         };
00163 
00165         class PlannerAlwaysTerminatingCondition : public PlannerTerminationCondition
00166         {
00167         public:
00168             PlannerAlwaysTerminatingCondition(void);
00169         };
00170 
00172         class PlannerOrTerminationCondition : public PlannerTerminationCondition
00173         {
00174         public:
00175             PlannerOrTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2);
00176         };
00177 
00179         class PlannerAndTerminationCondition : public PlannerTerminationCondition
00180         {
00181         public:
00182             PlannerAndTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2);
00183         };
00184 
00185         PlannerTerminationCondition timedPlannerTerminationCondition(double duration);
00186     }
00187 }
00188 
00189 #endif