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::function<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 00087 void terminate(void) const; 00088 00090 virtual bool eval(void) const; 00091 00092 protected: 00093 00095 PlannerTerminationConditionFn fn_; 00096 00098 mutable bool terminate_; 00099 }; 00100 00111 class PlannerThreadedTerminationCondition : public PlannerTerminationCondition 00112 { 00113 public: 00114 00119 PlannerThreadedTerminationCondition(const PlannerTerminationConditionFn &fn, double period); 00120 00121 virtual ~PlannerThreadedTerminationCondition(void); 00122 00124 virtual bool eval(void) const; 00125 00126 protected: 00127 00129 bool computeEval(void); 00130 00132 void startEvalThread(void); 00133 00135 void stopEvalThread(void); 00136 00138 void periodicEval(void); 00139 00141 boost::thread *thread_; 00142 00144 bool evalValue_; 00145 00147 double period_; 00148 }; 00149 00151 class PlannerNonTerminatingCondition : public PlannerTerminationCondition 00152 { 00153 public: 00154 PlannerNonTerminatingCondition(void); 00155 }; 00156 00158 class PlannerAlwaysTerminatingCondition : public PlannerTerminationCondition 00159 { 00160 public: 00161 PlannerAlwaysTerminatingCondition(void); 00162 }; 00163 00165 class PlannerOrTerminationCondition : public PlannerTerminationCondition 00166 { 00167 public: 00168 PlannerOrTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2); 00169 }; 00170 00172 class PlannerAndTerminationCondition : public PlannerTerminationCondition 00173 { 00174 public: 00175 PlannerAndTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2); 00176 }; 00177 00179 PlannerTerminationCondition timedPlannerTerminationCondition(double duration); 00180 00182 PlannerThreadedTerminationCondition timedPlannerTerminationCondition(double duration, double interval); 00183 } 00184 } 00185 00186 #endif