GoalLazySamples.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_GOALS_GOAL_LAZY_SAMPLES_
38 #define OMPL_BASE_GOALS_GOAL_LAZY_SAMPLES_
39 
40 #include <functional>
41 #include <limits>
42 #include <mutex>
43 #include <thread>
44 #include "ompl/base/goals/GoalStates.h"
45 
46 namespace ompl
47 {
48  namespace base
49  {
51 
55  typedef std::function<bool(const GoalLazySamples *, State *)> GoalSamplingFn;
56 
71  class GoalLazySamples : public GoalStates
72  {
73  public:
77  typedef std::function<void(const base::State *)> NewStateCallbackFn;
78 
102  GoalLazySamples(const SpaceInformationPtr &si, GoalSamplingFn samplerFunc, bool autoStart = true,
103  double minDist = std::numeric_limits<double>::epsilon());
104 
105  ~GoalLazySamples() override;
106 
107  void sampleGoal(State *st) const override;
108 
109  double distanceGoal(const State *st) const override;
110 
111  void addState(const State *st) override;
112 
114  void startSampling();
115 
117  void stopSampling();
118 
120  bool isSampling() const;
121 
124  void setMinNewSampleDistance(double dist)
125  {
126  minDist_ = dist;
127  }
128 
131  double getMinNewSampleDistance() const
132  {
133  return minDist_;
134  }
135 
137  unsigned int samplingAttemptsCount() const
138  {
139  return samplingAttempts_;
140  }
141 
145  void setNewStateCallback(const NewStateCallbackFn &callback);
146 
149  bool addStateIfDifferent(const State *st, double minDistance);
150 
153  bool couldSample() const override;
154 
155  bool hasStates() const override;
156  const State *getState(unsigned int index) const override;
157  std::size_t getStateCount() const override;
158 
159  void clear() override;
160 
161  unsigned int maxSampleCount() const override;
162 
163  protected:
165  void goalSamplingThread();
166 
168  mutable std::mutex lock_;
169 
171  GoalSamplingFn samplerFunc_;
172 
175 
177  std::thread *samplingThread_;
178 
180  unsigned int samplingAttempts_;
181 
184  double minDist_;
185 
187  NewStateCallbackFn callback_;
188  };
189  }
190 }
191 
192 #endif
double distanceGoal(const State *st) const override
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
unsigned int samplingAttemptsCount() const
The number of times the sampling function was called and it returned true.
void addState(const State *st) override
Add a goal state.
Definition of a goal region that can be sampled, but the sampling process can be slow. This class allows sampling the happen in a separate thread, and the number of goals may increase, as the planner is running, in a thread-safe manner.
void goalSamplingThread()
The function that samples goals by calling samplerFunc_ in a separate thread.
GoalSamplingFn samplerFunc_
Function that produces samples.
unsigned int maxSampleCount() const override
Return the maximum number of samples that can be asked for before repeating.
double minDist_
Samples returned by the sampling thread are added to the list of states only if they are at least min...
std::thread * samplingThread_
Additional thread for sampling goal states.
double getMinNewSampleDistance() const
Get the minimum distance that a new state returned by the sampling thread needs to be away from previ...
Definition of a set of goal states.
Definition: GoalStates.h:49
bool addStateIfDifferent(const State *st, double minDistance)
Add a state st if it further away that minDistance from previously added states. Return true if the s...
void startSampling()
Start the goal sampling thread.
bool isSampling() const
Return true if the sampling thread is active.
bool hasStates() const override
Check if there are any states in this goal region.
std::function< bool(const GoalLazySamples *, State *)> GoalSamplingFn
Goal sampling function. Returns false when no further calls should be made to it. Fills its second ar...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
void sampleGoal(State *st) const override
Sample a state in the goal region.
void clear() override
Clear all goal states.
void setNewStateCallback(const NewStateCallbackFn &callback)
Set the callback function to be called when a new state is added to the list of possible samples...
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:49
std::size_t getStateCount() const override
Return the number of valid goal states.
std::mutex lock_
Lock for updating the set of states.
bool couldSample() const override
Return true if GoalStates::couldSample() is true or if the sampling thread is active, as in this case it is possible a sample can be produced at some point.
bool terminateSamplingThread_
Flag used to notify the sampling thread to terminate sampling.
void stopSampling()
Stop the goal sampling thread.
GoalLazySamples(const SpaceInformationPtr &si, GoalSamplingFn samplerFunc, bool autoStart=true, double minDist=std::numeric_limits< double >::epsilon())
Create a goal region that can be sampled in a lazy fashion. A function (samplerFunc) that produces sa...
unsigned int samplingAttempts_
The number of times the sampling function was called and it returned true.
const State * getState(unsigned int index) const override
Return a pointer to the indexth state in the state list.
void setMinNewSampleDistance(double dist)
Set the minimum distance that a new state returned by the sampling thread needs to be away from previ...
NewStateCallbackFn callback_
If defined, this function is called when a new state is added to the list of possible samples...
std::function< void(const base::State *)> NewStateCallbackFn
When new samples are generated and added to the list of possible samples, a callback can be called...