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src
ompl
base
PlannerTerminationCondition.h
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011, 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_PLANNER_TERMINATION_CONDITION_
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#define OMPL_BASE_PLANNER_TERMINATION_CONDITION_
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#include <boost/function.hpp>
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#include <boost/thread.hpp>
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namespace
ompl
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{
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namespace
base
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{
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typedef
boost::function<bool()>
PlannerTerminationConditionFn
;
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class
PlannerTerminationCondition
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{
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public
:
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PlannerTerminationCondition
(
const
PlannerTerminationConditionFn
&fn =
PlannerTerminationConditionFn
()) :
fn_
(fn),
terminate_
(false)
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{
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}
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virtual
~
PlannerTerminationCondition
(
void
)
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{
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}
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bool
operator()
(
void
)
const
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{
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return
terminate_
||
eval
();
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}
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operator
bool()
const
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{
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return
terminate_
||
eval
();
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}
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void
terminate
(
void
)
const
;
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virtual
bool
eval
(
void
)
const
;
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protected
:
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PlannerTerminationConditionFn
fn_
;
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mutable
bool
terminate_
;
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};
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class
PlannerThreadedTerminationCondition
:
public
PlannerTerminationCondition
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{
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public
:
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PlannerThreadedTerminationCondition
(
const
PlannerTerminationConditionFn
&fn,
double
period);
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virtual
~
PlannerThreadedTerminationCondition
(
void
);
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virtual
bool
eval
(
void
)
const
;
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protected
:
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bool
computeEval
(
void
);
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void
startEvalThread
(
void
);
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void
stopEvalThread
(
void
);
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void
periodicEval
(
void
);
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boost::thread *
thread_
;
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bool
evalValue_
;
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double
period_
;
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};
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class
PlannerNonTerminatingCondition
:
public
PlannerTerminationCondition
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{
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public
:
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PlannerNonTerminatingCondition
(
void
);
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};
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class
PlannerAlwaysTerminatingCondition
:
public
PlannerTerminationCondition
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{
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public
:
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PlannerAlwaysTerminatingCondition
(
void
);
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};
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class
PlannerOrTerminationCondition
:
public
PlannerTerminationCondition
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{
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public
:
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PlannerOrTerminationCondition
(
const
PlannerTerminationCondition
&c1,
const
PlannerTerminationCondition
&c2);
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};
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class
PlannerAndTerminationCondition
:
public
PlannerTerminationCondition
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{
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public
:
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PlannerAndTerminationCondition
(
const
PlannerTerminationCondition
&c1,
const
PlannerTerminationCondition
&c2);
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};
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PlannerTerminationCondition
timedPlannerTerminationCondition
(
double
duration);
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PlannerThreadedTerminationCondition
timedPlannerTerminationCondition
(
double
duration,
double
interval);
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}
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}
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#endif