37 #ifndef OMPL_BASE_PLANNER_TERMINATION_CONDITION_
38 #define OMPL_BASE_PLANNER_TERMINATION_CONDITION_
40 #include <boost/function.hpp>
41 #include <boost/shared_ptr.hpp>
98 bool eval(
void)
const;
102 class PlannerTerminationConditionImpl;
103 boost::shared_ptr<PlannerTerminationConditionImpl> impl_;
bool eval(void) const
The implementation of some termination condition. By default, this just calls fn_() ...
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...
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
PlannerTerminationCondition plannerAndTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2)
Combine two termination conditions into one. Both termination conditions need to return true for this...
void terminate(void) const
Notify that the condition for termination should become true, regardless of what eval() returns...
PlannerTerminationCondition plannerAlwaysTerminatingCondition()
Simple termination condition that always returns true. The termination condition will always be met...
PlannerTerminationCondition timedPlannerTerminationCondition(double duration)
Return a termination condition that will become true duration seconds in the future (wall-time) ...
bool operator()(void) const
Return true if the planner should stop its computation.
PlannerTerminationCondition(const PlannerTerminationConditionFn &fn)
Construct a termination condition. By default, eval() will call the externally specified function fn ...
boost::function< bool()> PlannerTerminationConditionFn
Signature for functions that decide whether termination conditions have been met for a planner...