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PlannerTerminationCondition.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_PLANNER_TERMINATION_CONDITION_
38 #define OMPL_BASE_PLANNER_TERMINATION_CONDITION_
39 
40 #include <boost/function.hpp>
41 #include <boost/thread.hpp>
42 
43 namespace ompl
44 {
45 
46  namespace base
47  {
48 
56  typedef boost::function<bool()> PlannerTerminationConditionFn;
57 
65  {
66  public:
67 
72  {
73  }
74 
75  virtual ~PlannerTerminationCondition(void)
76  {
77  }
78 
80  bool operator()(void) const
81  {
82  return terminate_ || eval();
83  }
84 
87  void terminate(void) const;
88 
90  virtual bool eval(void) const;
91 
92  protected:
93 
96 
98  mutable bool terminate_;
99  };
100 
112  {
113  public:
114 
120 
122 
124  virtual bool eval(void) const;
125 
126  protected:
127 
129  bool computeEval(void);
130 
132  void startEvalThread(void);
133 
135  void stopEvalThread(void);
136 
138  void periodicEval(void);
139 
141  boost::thread *thread_;
142 
145 
147  double period_;
148  };
149 
152  {
153  public:
155  };
156 
159  {
160  public:
162  };
163 
166  {
167  public:
169  };
170 
173  {
174  public:
176  };
177 
180 
183  }
184 }
185 
186 #endif