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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
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....
This namespace contains sampling based planning routines shared by both planning under geometric cons...
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.