MorseTerminationCondition.h

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/* Author: Caleb Voss */
 
#ifndef OMPL_EXTENSION_MORSE_TERMINATION_CONDITION_
#define OMPL_EXTENSION_MORSE_TERMINATION_CONDITION_
 
#include "ompl/base/PlannerTerminationCondition.h"
#include "ompl/extensions/morse/MorseEnvironment.h"
 
namespace ompl
{
    namespace base
    {
        class MorseTerminationCondition : public PlannerTerminationCondition
        {
        public:
            MorseTerminationCondition(const MorseEnvironmentPtr env)
                : PlannerTerminationCondition([env] { return !env->simRunning_; })
            {
            }
 
            ~MorseTerminationCondition() = default;
        };
    }
}
 
#endif