PlannerTerminationCondition.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_PLANNER_TERMINATION_CONDITION_
38 #define OMPL_BASE_PLANNER_TERMINATION_CONDITION_
39 
40 #include <functional>
41 #include <memory>
42 #include <ompl/base/ProblemDefinition.h>
43 #include <ompl/util/Time.h>
44 
45 namespace ompl
46 {
47  namespace base
48  {
56  using PlannerTerminationConditionFn = std::function<bool()>;
64  {
65  public:
70 
75 
76  ~PlannerTerminationCondition() = default;
77 
79  bool operator()() const
80  {
81  return eval();
82  }
83 
85  operator bool() const
86  {
87  return eval();
88  }
89 
92  void terminate() const;
93 
95  bool eval() const;
96 
97  private:
98  class PlannerTerminationConditionImpl;
99  std::shared_ptr<PlannerTerminationConditionImpl> impl_;
100  };
101 
104  PlannerTerminationCondition plannerNonTerminatingCondition();
105 
108  PlannerTerminationCondition plannerAlwaysTerminatingCondition();
109 
112  PlannerTerminationCondition plannerOrTerminationCondition(const PlannerTerminationCondition &c1,
113  const PlannerTerminationCondition &c2);
114 
117  PlannerTerminationCondition plannerAndTerminationCondition(const PlannerTerminationCondition &c1,
118  const PlannerTerminationCondition &c2);
119 
121  PlannerTerminationCondition timedPlannerTerminationCondition(double duration);
122 
124  PlannerTerminationCondition timedPlannerTerminationCondition(time::duration duration);
125 
128  PlannerTerminationCondition timedPlannerTerminationCondition(double duration, double interval);
129 
132  PlannerTerminationCondition exactSolnPlannerTerminationCondition(const ompl::base::ProblemDefinitionPtr &pdef);
133  }
134 }
135 
136 #endif
PlannerTerminationCondition plannerAlwaysTerminatingCondition()
Simple termination condition that always returns true. The termination condition will always be met.
PlannerTerminationCondition exactSolnPlannerTerminationCondition(const ompl::base::ProblemDefinitionPtr &pdef)
Return a termination condition that will become true as soon as the problem definition has an exact s...
PlannerTerminationCondition timedPlannerTerminationCondition(double duration)
Return a termination condition that will become true duration seconds in the future (wall-time)
std::function< bool()> PlannerTerminationConditionFn
Signature for functions that decide whether termination conditions have been met for a planner,...
bool operator()() const
Return true if the planner should stop its computation.
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
A shared pointer wrapper for ompl::base::ProblemDefinition.
std::chrono::system_clock::duration duration
Representation of a time duration.
Definition: Time.h:55
bool eval() const
The implementation of some termination condition. By default, this just calls fn_()
PlannerTerminationCondition plannerOrTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2)
Combine two termination conditions into one. If either termination condition returns true,...
PlannerTerminationCondition plannerAndTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2)
Combine two termination conditions into one. Both termination conditions need to return true for this...
PlannerTerminationCondition plannerNonTerminatingCondition()
Simple termination condition that always returns false. The termination condition will never be met.
void terminate() const
Notify that the condition for termination should become true, regardless of what eval() returns....
PlannerTerminationCondition(const PlannerTerminationConditionFn &fn)
Construct a termination condition. By default, eval() will call the externally specified function fn ...
Main namespace. Contains everything in this library.
Definition: AppBase.h:22