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  {
50  class GoalLazySamples;
51 
55  using GoalSamplingFn = std::function<bool(const GoalLazySamples *, State *)>;
56 
71  class GoalLazySamples : public GoalStates
72  {
73  public:
77  using NewStateCallbackFn = std::function<void(const base::State *)>;
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 
172 
175 
177  std::thread *samplingThread_;
178 
180  unsigned int samplingAttempts_;
181 
184  double minDist_;
185 
188  };
189  }
190 }
191 
192 #endif
bool couldSample() const override
Return true if GoalStates::couldSample() is true or if the sampling thread is active,...
void clear() override
Clear all goal states.
bool isSampling() const
Return true if the sampling thread is active.
A shared pointer wrapper for ompl::base::SpaceInformation.
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...
bool hasStates() const override
Check if there are any states in this goal region.
Definition of a goal region that can be sampled, but the sampling process can be slow....
Definition of an abstract state.
Definition: State.h:50
void addState(const State *st) override
Add a goal state.
std::size_t getStateCount() const override
Return the number of valid goal states.
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.
bool terminateSamplingThread_
Flag used to notify the sampling thread to terminate sampling.
double distanceGoal(const State *st) const override
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
Definition of a set of goal states.
Definition: GoalStates.h:50
double getMinNewSampleDistance() const
Get the minimum distance that a new state returned by the sampling thread needs to be away from previ...
double minDist_
Samples returned by the sampling thread are added to the list of states only if they are at least min...
void setNewStateCallback(const NewStateCallbackFn &callback)
Set the callback function to be called when a new state is added to the list of possible samples....
void sampleGoal(State *st) const override
Sample a state in the goal region.
void goalSamplingThread()
The function that samples goals by calling samplerFunc_ in a separate thread.
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.
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.
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....
unsigned int maxSampleCount() const override
Return the maximum number of samples that can be asked for before repeating.
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...
std::mutex lock_
Lock for updating the set of states.
std::thread * samplingThread_
Additional thread for sampling goal states.
void stopSampling()
Stop the goal sampling thread.
GoalSamplingFn samplerFunc_
Function that produces samples.
unsigned int samplingAttemptsCount() const
The number of times the sampling function was called and it returned true.
Main namespace. Contains everything in this library.
Definition: AppBase.h:22