MorseTerminationCondition.h
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34 
35 /* Author: Caleb Voss */
36 
37 #ifndef OMPL_EXTENSION_MORSE_TERMINATION_CONDITION_
38 #define OMPL_EXTENSION_MORSE_TERMINATION_CONDITION_
39 
40 #include "ompl/base/PlannerTerminationCondition.h"
41 #include "ompl/extensions/morse/MorseEnvironment.h"
42 
43 namespace ompl
44 {
45  namespace base
46  {
49  class MorseTerminationCondition : public PlannerTerminationCondition
50  {
51  public:
52  MorseTerminationCondition(const MorseEnvironmentPtr env)
53  : PlannerTerminationCondition([env] { return !env->simRunning_; })
54  {
55  }
56 
57  ~MorseTerminationCondition() = default;
58  };
59  }
60 }
61 
62 #endif
A shared pointer wrapper for ompl::base::MorseEnvironment.
PlannerTerminationCondition(const PlannerTerminationConditionFn &fn)
Construct a termination condition. By default, eval() will call the externally specified function fn ...
Main namespace. Contains everything in this library.