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src
ompl
base
goals
GoalLazySamples.h
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Rice University
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Rice University nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Ioan Sucan */
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#ifndef OMPL_BASE_GOALS_GOAL_LAZY_SAMPLES_
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#define OMPL_BASE_GOALS_GOAL_LAZY_SAMPLES_
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#include "ompl/base/goals/GoalStates.h"
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#include <boost/thread/thread.hpp>
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#include <boost/function.hpp>
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#include <limits>
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namespace
ompl
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{
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namespace
base
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{
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class
GoalLazySamples
;
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typedef
boost::function<bool(const GoalLazySamples*, State*)>
GoalSamplingFn
;
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class
GoalLazySamples
:
public
GoalStates
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{
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public
:
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typedef
boost::function<void(const base::State*)>
NewStateCallbackFn
;
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GoalLazySamples
(
const
SpaceInformationPtr
&si,
const
GoalSamplingFn
&samplerFunc,
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bool
autoStart =
true
,
double
minDist = std::numeric_limits<double>::epsilon());
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virtual
~
GoalLazySamples
(
void
);
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virtual
void
sampleGoal
(
State
*st)
const
;
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virtual
double
distanceGoal
(
const
State
*st)
const
;
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virtual
void
addState
(
const
State
* st);
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void
startSampling
(
void
);
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void
stopSampling
(
void
);
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bool
isSampling
(
void
)
const
;
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void
setMinNewSampleDistance
(
double
dist)
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{
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minDist_
= dist;
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}
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double
getMinNewSampleDistance
(
void
)
const
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{
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return
minDist_
;
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}
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unsigned
int
samplingAttemptsCount
(
void
)
const
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{
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return
samplingAttempts_
;
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}
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void
setNewStateCallback
(
const
NewStateCallbackFn
&callback);
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bool
addStateIfDifferent
(
const
State
* st,
double
minDistance);
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virtual
bool
couldSample
(
void
)
const
;
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virtual
bool
hasStates
(
void
)
const
;
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virtual
const
State
*
getState
(
unsigned
int
index)
const
;
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virtual
std::size_t
getStateCount
(
void
)
const
;
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virtual
void
clear
(
void
);
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protected
:
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void
goalSamplingThread
(
void
);
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mutable
boost::mutex
lock_
;
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GoalSamplingFn
samplerFunc_
;
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bool
terminateSamplingThread_
;
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boost::thread *
samplingThread_
;
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unsigned
int
samplingAttempts_
;
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double
minDist_
;
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NewStateCallbackFn
callback_
;
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};
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}
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}
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#endif