PlannerTerminationCondition.h
112 PlannerTerminationCondition plannerOrTerminationCondition(const PlannerTerminationCondition &c1,
117 PlannerTerminationCondition plannerAndTerminationCondition(const PlannerTerminationCondition &c1,
132 PlannerTerminationCondition exactSolnPlannerTerminationCondition(const ompl::base::ProblemDefinitionPtr &pdef);
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
PlannerTerminationCondition(const PlannerTerminationConditionFn &fn)
Construct a termination condition. By default, eval() will call the externally specified function fn ...
Definition: PlannerTerminationCondition.cpp:160
bool eval() const
The implementation of some termination condition. By default, this just calls fn_()
Definition: PlannerTerminationCondition.cpp:176
bool operator()() const
Return true if the planner should stop its computation.
Definition: PlannerTerminationCondition.h:79
void terminate() const
Notify that the condition for termination should become true, regardless of what eval() returns....
Definition: PlannerTerminationCondition.cpp:171
A shared pointer wrapper for ompl::base::ProblemDefinition.
PlannerTerminationCondition plannerAlwaysTerminatingCondition()
Simple termination condition that always returns true. The termination condition will always be met.
Definition: PlannerTerminationCondition.cpp:189
std::function< bool()> PlannerTerminationConditionFn
Signature for functions that decide whether termination conditions have been met for a planner,...
Definition: PlannerTerminationCondition.h:56
PlannerTerminationCondition plannerAndTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2)
Combine two termination conditions into one. Both termination conditions need to return true for this...
Definition: PlannerTerminationCondition.cpp:207
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...
Definition: PlannerTerminationCondition.cpp:242
PlannerTerminationCondition plannerOrTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2)
Combine two termination conditions into one. If either termination condition returns true,...
Definition: PlannerTerminationCondition.cpp:197
PlannerTerminationCondition plannerNonTerminatingCondition()
Simple termination condition that always returns false. The termination condition will never be met.
Definition: PlannerTerminationCondition.cpp:181
PlannerTerminationCondition timedPlannerTerminationCondition(double duration)
Return a termination condition that will become true duration seconds in the future (wall-time)
Definition: PlannerTerminationCondition.cpp:215