GoalLazySamples.h

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2010, Rice University
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Rice University nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
 
/* Author: Ioan Sucan */
 
#ifndef OMPL_BASE_GOALS_GOAL_LAZY_SAMPLES_
#define OMPL_BASE_GOALS_GOAL_LAZY_SAMPLES_
 
#include <functional>
#include <limits>
#include <mutex>
#include <thread>
#include "ompl/base/goals/GoalStates.h"
 
namespace ompl
{
    namespace base
    {
        class GoalLazySamples;
 
        using GoalSamplingFn = std::function<bool(const GoalLazySamples *, State *)>;
 
        class GoalLazySamples : public GoalStates
        {
        public:
            using NewStateCallbackFn = std::function<void(const base::State *)>;
 
            GoalLazySamples(const SpaceInformationPtr &si, GoalSamplingFn samplerFunc, bool autoStart = true,
                            double minDist = std::numeric_limits<double>::epsilon());
 
            ~GoalLazySamples() override;
 
            void sampleGoal(State *st) const override;
 
            double distanceGoal(const State *st) const override;
 
            void addState(const State *st) override;
 
            void startSampling();
 
            void stopSampling();
 
            bool isSampling() const;
 
            void setMinNewSampleDistance(double dist)
            {
                minDist_ = dist;
            }
 
            double getMinNewSampleDistance() const
            {
                return minDist_;
            }
 
            unsigned int samplingAttemptsCount() const
            {
                return samplingAttempts_;
            }
 
            void setNewStateCallback(const NewStateCallbackFn &callback);
 
            bool addStateIfDifferent(const State *st, double minDistance);
 
            bool couldSample() const override;
 
            bool hasStates() const override;
            const State *getState(unsigned int index) const override;
            std::size_t getStateCount() const override;
 
            void clear() override;
 
            unsigned int maxSampleCount() const override;
 
        protected:
            void goalSamplingThread();
 
            mutable std::mutex lock_;
 
            GoalSamplingFn samplerFunc_;
 
            bool terminateSamplingThread_;
 
            std::thread *samplingThread_;
 
            unsigned int samplingAttempts_;
 
            double minDist_;
 
            NewStateCallbackFn callback_;
        };
    }
}
 
#endif