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GoalLazySamples.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_GOAL_LAZY_SAMPLES_
00038 #define OMPL_BASE_GOAL_LAZY_SAMPLES_
00039 
00040 #include "ompl/base/GoalStates.h"
00041 #include <boost/thread/thread.hpp>
00042 #include <boost/function.hpp>
00043 #include <limits>
00044 
00045 namespace ompl
00046 {
00047 
00048     namespace base
00049     {
00050 
00051         class GoalLazySamples;
00052 
00055         typedef boost::function2<bool, const GoalLazySamples*, State*> GoalSamplingFn;
00056 
00062         class GoalLazySamples : public GoalStates
00063         {
00064         public:
00065 
00084             GoalLazySamples(const SpaceInformationPtr &si, const GoalSamplingFn &samplerFunc,
00085                             bool autoStart = true, double minDist = std::numeric_limits<double>::epsilon());
00086 
00087             virtual ~GoalLazySamples(void);
00088 
00089             virtual void sampleGoal(State *st) const;
00090 
00091             virtual double distanceGoal(const State *st) const;
00092 
00093             virtual void addState(const State* st);
00094 
00096             void startSampling(void);
00097 
00099             void stopSampling(void);
00100 
00102             bool isSampling(void) const;
00103 
00107             virtual bool canSample(void) const;
00108 
00111             void setMinNewSampleDistance(double dist)
00112             {
00113                 minDist_ = dist;
00114             }
00115 
00118             double getMinNewSampleDistance(void) const
00119             {
00120                 return minDist_;
00121             }
00122 
00124             bool wasLastStateAdded(void) const
00125             {
00126                 return lastStateAdded_;
00127             }
00128 
00130             bool addStateIfDifferent(const State* st, double minDistance);
00131 
00132             virtual void clear(void);
00133 
00134         protected:
00135 
00137             void goalSamplingThread(void);
00138 
00140             mutable boost::mutex           lock_;
00141 
00143             GoalSamplingFn                 samplerFunc_;
00144 
00146             bool                           terminateSamplingThread_;
00147 
00149             boost::thread                 *samplingThread_;
00150 
00152             bool                           lastStateAdded_;
00153 
00156             double                         minDist_;
00157         };
00158 
00159     }
00160 }
00161 
00162 #endif
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