IdGenerator.h

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/* Authors: Jonathan Gammell */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_BITSTAR_IDGENERATOR_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_BITSTAR_IDGENERATOR_
 
// I am member class of the BITstar class, so I need to include it's definition to be aware of the class BITstar. It has
// a forward declaration to me.
#include "ompl/geometric/planners/informedtrees/BITstar.h"
 
#include <thread>
#include <atomic>
// For boost::scoped_ptr
#include <boost/scoped_ptr.hpp>
 
namespace ompl
{
    namespace geometric
    {

        class BITstar::IdGenerator
        {
        public:
            IdGenerator() = default;

            BITstar::VertexId getNewId()
            {
                // Return the next id, purposefully post-decrementing:
                return nextId_++;
            }
 
        private:
            // Variables:
            // The next ID to be returned. We never use 0.
            std::atomic<BITstar::VertexId> nextId_{1u};
        };
    }  // namespace geometric
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_BITSTAR_IDGENERATOR_