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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 <functional>
41#include <memory>
42#include <ompl/base/ProblemDefinition.h>
43#include <ompl/util/Time.h>
44
45namespace ompl
46{
47 namespace base
48 {
56 using PlannerTerminationConditionFn = std::function<bool()>;
64 {
65 public:
70
75
77
79 bool operator()() const
80 {
81 return eval();
82 }
83
85 operator bool() const
86 {
87 return eval();
88 }
89
92 void terminate() const;
93
95 bool eval() const;
96
97 private:
98 class PlannerTerminationConditionImpl;
99 std::shared_ptr<PlannerTerminationConditionImpl> impl_;
100 };
101
104 PlannerTerminationCondition plannerNonTerminatingCondition();
105
108 PlannerTerminationCondition plannerAlwaysTerminatingCondition();
109
112 PlannerTerminationCondition plannerOrTerminationCondition(const PlannerTerminationCondition &c1,
113 const PlannerTerminationCondition &c2);
114
117 PlannerTerminationCondition plannerAndTerminationCondition(const PlannerTerminationCondition &c1,
118 const PlannerTerminationCondition &c2);
119
121 PlannerTerminationCondition timedPlannerTerminationCondition(double duration);
122
124 PlannerTerminationCondition timedPlannerTerminationCondition(time::duration duration);
125
128 PlannerTerminationCondition timedPlannerTerminationCondition(double duration, double interval);
129
132 PlannerTerminationCondition exactSolnPlannerTerminationCondition(const ompl::base::ProblemDefinitionPtr &pdef);
133 }
134}
135
136#endif
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
PlannerTerminationCondition(const PlannerTerminationConditionFn &fn)
Construct a termination condition. By default, eval() will call the externally specified function fn ...
bool eval() const
The implementation of some termination condition. By default, this just calls fn_()
bool operator()() const
Return true if the planner should stop its computation.
void terminate() const
Notify that the condition for termination should become true, regardless of what eval() returns....
A shared pointer wrapper for ompl::base::ProblemDefinition.
PlannerTerminationCondition plannerAlwaysTerminatingCondition()
Simple termination condition that always returns true. The termination condition will always be met.
PlannerTerminationCondition plannerAndTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2)
Combine two termination conditions into one. Both termination conditions need to return true for this...
PlannerTerminationCondition exactSolnPlannerTerminationCondition(const ompl::base::ProblemDefinitionPtr &pdef)
Return a termination condition that will become true as soon as the problem definition has an exact s...
PlannerTerminationCondition plannerOrTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2)
Combine two termination conditions into one. If either termination condition returns true,...
PlannerTerminationCondition plannerNonTerminatingCondition()
Simple termination condition that always returns false. The termination condition will never be met.
std::function< bool()> PlannerTerminationConditionFn
Signature for functions that decide whether termination conditions have been met for a planner,...
PlannerTerminationCondition timedPlannerTerminationCondition(double duration)
Return a termination condition that will become true duration seconds in the future (wall-time)
std::chrono::system_clock::duration duration
Representation of a time duration.
Definition Time.h:55
Main namespace. Contains everything in this library.