PlannerTerminationCondition.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
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  typedef std::function<bool()> PlannerTerminationConditionFn;
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 
137  {
138  public:
141  IterationTerminationCondition(unsigned int numIterations);
142 
145  bool eval();
146 
148  void reset();
149 
151  operator PlannerTerminationCondition();
152 
153  unsigned int getTimesCalled() const
154  {
155  return timesCalled_;
156  }
157 
158  private:
160  unsigned int maxCalls_;
162  unsigned int timesCalled_;
163  };
164  }
165 }
166 
167 #endif
void reset()
Reset the number of times the IterationTeriminationCondition has been called.
PlannerTerminationCondition plannerOrTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2)
Combine two termination conditions into one. If either termination condition returns true...
A class to run a planner for a specific number of iterations. Casts to a PTC for use with Planner::so...
PlannerTerminationCondition plannerNonTerminatingCondition()
Simple termination condition that always returns false. The termination condition will never be met...
A shared pointer wrapper for ompl::base::ProblemDefinition.
bool eval() const
The implementation of some termination condition. By default, this just calls fn_() ...
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
PlannerTerminationCondition plannerAndTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2)
Combine two termination conditions into one. Both termination conditions need to return true for this...
std::function< bool()> PlannerTerminationConditionFn
Signature for functions that decide whether termination conditions have been met for a planner...
PlannerTerminationCondition plannerAlwaysTerminatingCondition()
Simple termination condition that always returns true. The termination condition will always be met...
PlannerTerminationCondition timedPlannerTerminationCondition(double duration)
Return a termination condition that will become true duration seconds in the future (wall-time) ...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
bool operator()() const
Return true if the planner should stop its computation.
std::chrono::system_clock::duration duration
Representation of a time duration.
Definition: Time.h:67
PlannerTerminationCondition(const PlannerTerminationConditionFn &fn)
Construct a termination condition. By default, eval() will call the externally specified function fn ...
IterationTerminationCondition(unsigned int numIterations)
Construct a termination condition that can be evaluated numIterations times before returning true...
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...
bool eval()
Increment the number of times eval has been called and check if the planner should now terminate...
void terminate() const
Notify that the condition for termination should become true, regardless of what eval() returns...