GoalLazySamples.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_GOALS_GOAL_LAZY_SAMPLES_
38 #define OMPL_BASE_GOALS_GOAL_LAZY_SAMPLES_
39 
40 #include "ompl/base/goals/GoalStates.h"
41 #include <boost/thread/thread.hpp>
42 #include <boost/function.hpp>
43 #include <limits>
44 
45 namespace ompl
46 {
47 
48  namespace base
49  {
50 
52 
56  typedef boost::function<bool(const GoalLazySamples*, State*)> GoalSamplingFn;
57 
72  class GoalLazySamples : public GoalStates
73  {
74  public:
75 
79  typedef boost::function<void(const base::State*)> NewStateCallbackFn;
80 
104  GoalLazySamples(const SpaceInformationPtr &si, const GoalSamplingFn &samplerFunc,
105  bool autoStart = true, double minDist = std::numeric_limits<double>::epsilon());
106 
107  virtual ~GoalLazySamples();
108 
109  virtual void sampleGoal(State *st) const;
110 
111  virtual double distanceGoal(const State *st) const;
112 
113  virtual void addState(const State *st);
114 
116  void startSampling();
117 
119  void stopSampling();
120 
122  bool isSampling() const;
123 
126  void setMinNewSampleDistance(double dist)
127  {
128  minDist_ = dist;
129  }
130 
133  double getMinNewSampleDistance() const
134  {
135  return minDist_;
136  }
137 
139  unsigned int samplingAttemptsCount() const
140  {
141  return samplingAttempts_;
142  }
143 
146  void setNewStateCallback(const NewStateCallbackFn &callback);
147 
149  bool addStateIfDifferent(const State *st, double minDistance);
150 
152  virtual bool couldSample() const;
153 
154  virtual bool hasStates() const;
155  virtual const State* getState(unsigned int index) const;
156  virtual std::size_t getStateCount() const;
157 
158  virtual void clear();
159 
160  protected:
161 
163  void goalSamplingThread();
164 
166  mutable boost::mutex lock_;
167 
169  GoalSamplingFn samplerFunc_;
170 
173 
175  boost::thread *samplingThread_;
176 
178  unsigned int samplingAttempts_;
179 
182  double minDist_;
183 
185  NewStateCallbackFn callback_;
186  };
187 
188  }
189 }
190 
191 #endif
unsigned int samplingAttemptsCount() const
The number of times the sampling function was called and it returned true.
Definition of a goal region that can be sampled, but the sampling process can be slow. This class allows sampling the happen in a separate thread, and the number of goals may increase, as the planner is running, in a thread-safe manner.
virtual void sampleGoal(State *st) const
Sample a state in the goal region.
void goalSamplingThread()
The function that samples goals by calling samplerFunc_ in a separate thread.
boost::function< void(const base::State *)> NewStateCallbackFn
When new samples are generated and added to the list of possible samples, a callback can be called...
boost::mutex lock_
Lock for updating the set of states.
virtual std::size_t getStateCount() const
Return the number of valid goal states.
GoalSamplingFn samplerFunc_
Function that produces samples.
virtual const State * getState(unsigned int index) const
Return a pointer to the indexth state in the state list.
double minDist_
Samples returned by the sampling thread are added to the list of states only if they are at least min...
double getMinNewSampleDistance() const
Get the minimum distance that a new state returned by the sampling thread needs to be away from previ...
Definition of a set of goal states.
Definition: GoalStates.h:50
virtual bool couldSample() const
Return true if GoalStates::couldSample() is true or if the sampling thread is active, as in this case it is possible a sample can be produced at some point.
bool addStateIfDifferent(const State *st, double minDistance)
Add a state st if it further away that minDistance from previously added states. Return true if the s...
void startSampling()
Start the goal sampling thread.
bool isSampling() const
Return true if the sampling thread is active.
virtual bool hasStates() const
Check if there are any states in this goal region.
virtual double distanceGoal(const State *st) const
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
Main namespace. Contains everything in this library.
Definition: Cost.h:42
void setNewStateCallback(const NewStateCallbackFn &callback)
Set the callback function to be called when a new state is added to the list of possible samples...
virtual void clear()
Clear all goal states.
GoalLazySamples(const SpaceInformationPtr &si, const GoalSamplingFn &samplerFunc, bool autoStart=true, double minDist=std::numeric_limits< double >::epsilon())
Create a goal region that can be sampled in a lazy fashion. A function (samplerFunc) that produces sa...
A boost shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:50
virtual void addState(const State *st)
Add a goal state.
boost::thread * samplingThread_
Additional thread for sampling goal states.
bool terminateSamplingThread_
Flag used to notify the sampling thread to terminate sampling.
void stopSampling()
Stop the goal sampling thread.
unsigned int samplingAttempts_
The number of times the sampling function was called and it returned true.
boost::function< bool(const GoalLazySamples *, State *)> GoalSamplingFn
Goal sampling function. Returns false when no further calls should be made to it. Fills its second ar...
void setMinNewSampleDistance(double dist)
Set the minimum distance that a new state returned by the sampling thread needs to be away from previ...
NewStateCallbackFn callback_
If defined, this function is called when a new state is added to the list of possible samples...