GoalLazySamples.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_GOALS_GOAL_LAZY_SAMPLES_
#define OMPL_BASE_GOALS_GOAL_LAZY_SAMPLES_

#include "ompl/base/goals/GoalStates.h"
#include <thread>
#include <mutex>
#include <functional>
#include <limits>

namespace ompl
{

    namespace base
    {

        class GoalLazySamples;

        typedef std::function<bool(const GoalLazySamples*, State*)> GoalSamplingFn;

        class GoalLazySamples : public GoalStates
        {
        public:

            typedef std::function<void(const base::State*)> NewStateCallbackFn;

            GoalLazySamples(const SpaceInformationPtr &si, const GoalSamplingFn &samplerFunc,
                            bool autoStart = true, double minDist = std::numeric_limits<double>::epsilon());

            virtual ~GoalLazySamples();

            virtual void sampleGoal(State *st) const;

            virtual double distanceGoal(const State *st) const;

            virtual void addState(const State *st);

            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);

            virtual bool couldSample() const;

            virtual bool hasStates() const;
            virtual const State* getState(unsigned int index) const;
            virtual std::size_t getStateCount() const;

            virtual void clear();

        protected:

            void goalSamplingThread();

            mutable std::mutex             lock_;

            GoalSamplingFn                 samplerFunc_;

            bool                           terminateSamplingThread_;

            std::thread                   *samplingThread_;

            unsigned int                   samplingAttempts_;

            double                         minDist_;

            NewStateCallbackFn             callback_;
        };

    }
}

#endif