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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 <functional>
41#include <limits>
42#include <mutex>
43#include <thread>
44#include "ompl/base/goals/GoalStates.h"
45
46namespace ompl
47{
48 namespace base
49 {
50 class GoalLazySamples;
51
55 using GoalSamplingFn = std::function<bool(const GoalLazySamples *, State *)>;
56
71 {
72 public:
76 using NewStateCallbackFn = std::function<void(const base::State *)>;
77
101 GoalLazySamples(const SpaceInformationPtr &si, GoalSamplingFn samplerFunc, bool autoStart = true,
102 double minDist = std::numeric_limits<double>::epsilon());
103
104 ~GoalLazySamples() override;
105
106 void sampleGoal(State *st) const override;
107
108 double distanceGoal(const State *st) const override;
109
110 void addState(const State *st) override;
111
113 void startSampling();
114
116 void stopSampling();
117
119 bool isSampling() const;
120
123 void setMinNewSampleDistance(double dist)
124 {
125 minDist_ = dist;
126 }
127
131 {
132 return minDist_;
133 }
134
136 unsigned int samplingAttemptsCount() const
137 {
138 return samplingAttempts_;
139 }
140
144 void setNewStateCallback(const NewStateCallbackFn &callback);
145
148 bool addStateIfDifferent(const State *st, double minDistance);
149
152 bool couldSample() const override;
153
154 bool hasStates() const override;
155 const State *getState(unsigned int index) const override;
156 std::size_t getStateCount() const override;
157
158 void clear() override;
159
160 unsigned int maxSampleCount() const override;
161
162 protected:
164 void goalSamplingThread();
165
167 mutable std::mutex lock_;
168
171
174
176 std::thread *samplingThread_;
177
179 unsigned int samplingAttempts_;
180
183 double minDist_;
184
187 };
188 }
189}
190
191#endif
Definition of a goal region that can be sampled, but the sampling process can be slow....
void addState(const State *st) override
Add a goal state.
GoalLazySamples(const SpaceInformationPtr &si, 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...
unsigned int samplingAttemptsCount() const
The number of times the sampling function was called and it returned true.
void clear() override
Clear all goal states.
double minDist_
Samples returned by the sampling thread are added to the list of states only if they are at least min...
void goalSamplingThread()
The function that samples goals by calling samplerFunc_ in a separate thread.
void sampleGoal(State *st) const override
Sample a state in the goal region.
void startSampling()
Start the goal sampling thread.
bool isSampling() const
Return true if the sampling thread is active.
double distanceGoal(const State *st) const override
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
void stopSampling()
Stop the goal sampling thread.
NewStateCallbackFn callback_
If defined, this function is called when a new state is added to the list of possible samples.
double getMinNewSampleDistance() const
Get the minimum distance that a new state returned by the sampling thread needs to be away from previ...
bool couldSample() const override
Return true if GoalStates::couldSample() is true or if the sampling thread is active,...
void setNewStateCallback(const NewStateCallbackFn &callback)
Set the callback function to be called when a new state is added to the list of possible samples....
std::size_t getStateCount() const override
Return the number of valid goal states.
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...
bool terminateSamplingThread_
Flag used to notify the sampling thread to terminate sampling.
const State * getState(unsigned int index) const override
Return a pointer to the indexth state in the state list.
std::mutex lock_
Lock for updating the set of states.
GoalSamplingFn samplerFunc_
Function that produces samples.
unsigned int maxSampleCount() const override
Return the maximum number of samples that can be asked for before repeating.
void setMinNewSampleDistance(double dist)
Set the minimum distance that a new state returned by the sampling thread needs to be away from previ...
bool hasStates() const override
Check if there are any states in this goal region.
std::function< void(const base::State *)> NewStateCallbackFn
When new samples are generated and added to the list of possible samples, a callback can be called....
unsigned int samplingAttempts_
The number of times the sampling function was called and it returned true.
std::thread * samplingThread_
Additional thread for sampling goal states.
GoalStates(const SpaceInformationPtr &si)
Create a goal representation that is in fact a set of states.
Definition GoalStates.h:53
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition State.h:50
This namespace contains sampling based planning routines shared by both planning under geometric cons...
std::function< bool(const GoalLazySamples *, State *)> GoalSamplingFn
Goal sampling function. Returns false when no further calls should be made to it. Fills its second ar...
Main namespace. Contains everything in this library.