IdGenerator.h
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34 
35 /* Authors: Jonathan Gammell */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_BITSTAR_DATASTRUCTURES_IDGENERATOR_
38 #define OMPL_GEOMETRIC_PLANNERS_BITSTAR_DATASTRUCTURES_IDGENERATOR_
39 
40 // I am member class of the BITstar class, so I need to include it's definition to be aware of the class BITstar. It has
41 // a forward declaration to me.
42 #include "ompl/geometric/planners/bitstar/BITstar.h"
43 
44 #include <thread>
45 #include <mutex>
46 // For boost::scoped_ptr
47 #include <boost/scoped_ptr.hpp>
48 
49 namespace ompl
50 {
51  namespace geometric
52  {
59  {
60  public:
61  IdGenerator() = default;
62 
65  {
66  // Create a scoped mutex copy of idMutex that unlocks when it goes out of scope:
67  std::lock_guard<std::mutex> lockGuard(idMutex_);
68 
69  // Return the next id, purposefully post-decrementing:
70  return nextId_++;
71  }
72 
73  private:
74  // Variables:
75  // The next ID to be returned:
76  BITstar::VertexId nextId_{0u};
77  // The mutex
78  std::mutex idMutex_;
79  };
80  } // geometric
81 } // ompl
82 
83 // An anonymous namespace to hide the instance:
84 namespace
85 {
86  // Global variables:
87  // The initialization flag stating that the ID generator has been created:
88  std::once_flag g_IdInited;
89  // A pointer to the actual ID generator
90  boost::scoped_ptr<ompl::geometric::BITstar::IdGenerator> g_IdGenerator;
91 
92  // A function to initialize the ID generator pointer:
93  void initIdGenerator()
94  {
95  g_IdGenerator.reset(new ompl::geometric::BITstar::IdGenerator());
96  }
97 
98  // A function to get the current ID generator:
100  {
101  std::call_once(g_IdInited, &initIdGenerator);
102  return *g_IdGenerator;
103  }
104 }
105 #endif // OMPL_GEOMETRIC_PLANNERS_BITSTAR_DATASTRUCTURES_IDGENERATOR_
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
BITstar::VertexId getNewId()
Generator a new id and increment the global/static counter of IDs.
Definition: IdGenerator.h:64
An ID generator class for vertex IDs.
Definition: IdGenerator.h:58
unsigned int VertexId
The vertex id type.
Definition: BITstar.h:134