PlannerTerminationCondition.h

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2011, Rice University
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Rice University nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Author: Ioan Sucan */

#ifndef OMPL_BASE_PLANNER_TERMINATION_CONDITION_
#define OMPL_BASE_PLANNER_TERMINATION_CONDITION_

#include <functional>
#include <memory>
#include <ompl/base/ProblemDefinition.h>
#include <ompl/util/Time.h>

namespace ompl
{
    namespace base
    {
        typedef std::function<bool()> PlannerTerminationConditionFn;
        class PlannerTerminationCondition
        {
        public:
            PlannerTerminationCondition(const PlannerTerminationConditionFn &fn);

            PlannerTerminationCondition(const PlannerTerminationConditionFn &fn, double period);

            ~PlannerTerminationCondition() = default;

            bool operator()() const
            {
                return eval();
            }

            operator bool() const
            {
                return eval();
            }

            void terminate() const;

            bool eval() const;

        private:
            class PlannerTerminationConditionImpl;
            std::shared_ptr<PlannerTerminationConditionImpl> impl_;
        };

        PlannerTerminationCondition plannerNonTerminatingCondition();

        PlannerTerminationCondition plannerAlwaysTerminatingCondition();

        PlannerTerminationCondition plannerOrTerminationCondition(const PlannerTerminationCondition &c1,
                                                                  const PlannerTerminationCondition &c2);

        PlannerTerminationCondition plannerAndTerminationCondition(const PlannerTerminationCondition &c1,
                                                                   const PlannerTerminationCondition &c2);

        PlannerTerminationCondition timedPlannerTerminationCondition(double duration);

        PlannerTerminationCondition timedPlannerTerminationCondition(time::duration duration);

        PlannerTerminationCondition timedPlannerTerminationCondition(double duration, double interval);

        PlannerTerminationCondition exactSolnPlannerTerminationCondition(const ompl::base::ProblemDefinitionPtr& pdef);

        class IterationTerminationCondition
        {
        public:
            IterationTerminationCondition(unsigned int numIterations);

            bool eval();

            void reset();

            operator PlannerTerminationCondition();

        private:
            unsigned int maxCalls_;
            unsigned int timesCalled_;
        };
    }
}

#endif