00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, 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_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