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  typedef std::function<bool()> PlannerTerminationConditionFn;
64  {
65  public:
69  PlannerTerminationCondition(const PlannerTerminationConditionFn &fn);
70 
74  PlannerTerminationCondition(const PlannerTerminationConditionFn &fn, double period);
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 
105 
109 
113  const PlannerTerminationCondition &c2);
114 
118  const PlannerTerminationCondition &c2);
119 
122 
125 
128  PlannerTerminationCondition timedPlannerTerminationCondition(double duration, double interval);
129 
133 
137  {
138  public:
141  IterationTerminationCondition(unsigned int numIterations);
142 
145  bool eval();
146 
148  void reset();
149 
151  operator PlannerTerminationCondition();
152 
153  private:
155  unsigned int maxCalls_;
157  unsigned int timesCalled_;
158  };
159  }
160 }
161 
162 #endif
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 ...
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...
void terminate() const
Notify that the condition for termination should become true, regardless of what eval() returns...