PlannerTerminationCondition.h

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/* 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();

            unsigned int getTimesCalled() const
            {
                return timesCalled_;
            }

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

#endif