PlannerMonitor.h
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34 
35 /* Author Ioan Sucan */
36 
37 #ifndef OMPL_TOOLS_DEBUG_PLANNER_MONITOR_
38 #define OMPL_TOOLS_DEBUG_PLANNER_MONITOR_
39 
40 #include <iostream>
41 #include <boost/scoped_ptr.hpp>
42 #include <thread>
43 #include <utility>
44 
45 #include "ompl/base/Planner.h"
46 
47 namespace ompl
48 {
49  namespace tools
50  {
54  {
55  public:
56  // non-copyright
57  PlannerMonitor(const PlannerMonitor &) = delete;
58  PlannerMonitor &operator=(const PlannerMonitor &) = delete;
59 
64  PlannerMonitor(base::PlannerPtr planner, std::ostream &out, double period = 0.5, bool autoStart = true)
65  : planner_(std::move(planner)), out_(out), period_(period), shouldMonitor_(false)
66  {
67  if (autoStart)
68  startMonitor();
69  }
70 
73  {
74  stopMonitor();
75  }
76 
78  void startMonitor();
79 
81  void stopMonitor();
82 
83  private:
84  void threadFunction();
85 
86  base::PlannerPtr planner_;
87  std::ostream &out_;
88  double period_;
89  bool shouldMonitor_;
90  boost::scoped_ptr<std::thread> monitorThread_;
91  };
92  }
93 }
94 
95 #endif
void stopMonitor()
Stop the monitoring thread (automatically stopped by the destructor).
STL namespace.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
A shared pointer wrapper for ompl::base::Planner.
void startMonitor()
Start the monitoring thread.
PlannerMonitor(base::PlannerPtr planner, std::ostream &out, double period=0.5, bool autoStart=true)
Monitor a planner instance, and dump its properties to a specified stream, periodically.
Monitor the properties a planner exposes, as the planner is running. Dump the planner properties to a...