GoalLazySamples.h
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.
Definition: GoalLazySamples.h:72
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.
Definition: GoalLazySamples.cpp:116
void goalSamplingThread()
The function that samples goals by calling samplerFunc_ in a separate thread.
Definition: GoalLazySamples.cpp:83
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...
Definition: GoalLazySamples.h:79
virtual void sampleGoal(State *st) const
Sample a state in the goal region.
Definition: GoalLazySamples.cpp:133
double minDist_
Samples returned by the sampling thread are added to the list of states only if they are at least min...
Definition: GoalLazySamples.h:182
virtual const State * getState(unsigned int index) const
Return a pointer to the indexth state in the state list.
Definition: GoalLazySamples.cpp:150
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...
Definition: GoalLazySamples.cpp:168
unsigned int samplingAttemptsCount() const
The number of times the sampling function was called and it returned true.
Definition: GoalLazySamples.h:139
double getMinNewSampleDistance() const
Get the minimum distance that a new state returned by the sampling thread needs to be away from previ...
Definition: GoalLazySamples.h:133
void setNewStateCallback(const NewStateCallbackFn &callback)
Set the callback function to be called when a new state is added to the list of possible samples...
Definition: GoalLazySamples.cpp:139
virtual bool hasStates() const
Check if there are any states in this goal region.
Definition: GoalLazySamples.cpp:156
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...
Definition: GoalLazySamples.cpp:41
A boost shared pointer wrapper for ompl::base::SpaceInformation.
virtual std::size_t getStateCount() const
Return the number of valid goal states.
Definition: GoalLazySamples.cpp:162
virtual double distanceGoal(const State *st) const
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
Definition: GoalLazySamples.cpp:127
boost::thread * samplingThread_
Additional thread for sampling goal states.
Definition: GoalLazySamples.h:175
bool terminateSamplingThread_
Flag used to notify the sampling thread to terminate sampling.
Definition: GoalLazySamples.h:172
unsigned int samplingAttempts_
The number of times the sampling function was called and it returned true.
Definition: GoalLazySamples.h:178
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...
Definition: GoalLazySamples.h:51
bool isSampling() const
Return true if the sampling thread is active.
Definition: GoalLazySamples.cpp:111
void setMinNewSampleDistance(double dist)
Set the minimum distance that a new state returned by the sampling thread needs to be away from previ...
Definition: GoalLazySamples.h:126
NewStateCallbackFn callback_
If defined, this function is called when a new state is added to the list of possible samples...
Definition: GoalLazySamples.h:185