All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator
GoalLazySamples.h
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