GoalLazySamples.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_BASE_GOALS_GOAL_LAZY_SAMPLES_
#define OMPL_BASE_GOALS_GOAL_LAZY_SAMPLES_
 
#include <functional>
#include <limits>
#include <mutex>
#include <thread>
#include "ompl/base/goals/GoalStates.h"
 
namespace ompl
{
    namespace base
    {
        class GoalLazySamples;

        using GoalSamplingFn = std::function<bool(const GoalLazySamples *, State *)>;

        class GoalLazySamples : public GoalStates
        {
        public:
            using NewStateCallbackFn = std::function<void(const base::State *)>;

            GoalLazySamples(const SpaceInformationPtr &si, GoalSamplingFn samplerFunc, bool autoStart = true,
                            double minDist = std::numeric_limits<double>::epsilon());
 
            ~GoalLazySamples() override;
 
            void sampleGoal(State *st) const override;
 
            double distanceGoal(const State *st) const override;
 
            void addState(const State *st) override;

            void startSampling();

            void stopSampling();

            bool isSampling() const;

            void setMinNewSampleDistance(double dist)
            {
                minDist_ = dist;
            }

            double getMinNewSampleDistance() const
            {
                return minDist_;
            }

            unsigned int samplingAttemptsCount() const
            {
                return samplingAttempts_;
            }

            void setNewStateCallback(const NewStateCallbackFn &callback);

            bool addStateIfDifferent(const State *st, double minDistance);

            bool couldSample() const override;
 
            bool hasStates() const override;
            const State *getState(unsigned int index) const override;
            std::size_t getStateCount() const override;
 
            void clear() override;
 
            unsigned int maxSampleCount() const override;
 
        protected:
            void goalSamplingThread();

            mutable std::mutex lock_;

            GoalSamplingFn samplerFunc_;

            bool terminateSamplingThread_;

            std::thread *samplingThread_;

            unsigned int samplingAttempts_;

            double minDist_;

            NewStateCallbackFn callback_;
        };
    }  // namespace base
}  // namespace ompl
 
#endif