.. _program_listing_file_src_ompl_base_PlannerTerminationCondition.h:

Program Listing for File PlannerTerminationCondition.h
======================================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ompl_base_PlannerTerminationCondition.h>` (``src/ompl/base/PlannerTerminationCondition.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: Ioan Sucan */
   
   #ifndef OMPL_BASE_PLANNER_TERMINATION_CONDITION_
   #define OMPL_BASE_PLANNER_TERMINATION_CONDITION_
   
   #include <functional>
   #include <memory>
   #include <ompl/base/ProblemDefinition.h>
   #include <ompl/util/Time.h>
   
   namespace ompl
   {
       namespace base
       {
           using PlannerTerminationConditionFn = std::function<bool()>;
           class PlannerTerminationCondition
           {
           public:
               PlannerTerminationCondition(const PlannerTerminationConditionFn &fn);
   
               PlannerTerminationCondition(const PlannerTerminationConditionFn &fn, double period);
   
               ~PlannerTerminationCondition() = default;
   
               bool operator()() const
               {
                   return eval();
               }
   
               operator bool() const
               {
                   return eval();
               }
   
               void terminate() const;
   
               bool eval() const;
   
           private:
               class PlannerTerminationConditionImpl;
               std::shared_ptr<PlannerTerminationConditionImpl> impl_;
           };
   
           PlannerTerminationCondition plannerNonTerminatingCondition();
   
           PlannerTerminationCondition plannerAlwaysTerminatingCondition();
   
           PlannerTerminationCondition plannerOrTerminationCondition(const PlannerTerminationCondition &c1,
                                                                     const PlannerTerminationCondition &c2);
   
           PlannerTerminationCondition plannerAndTerminationCondition(const PlannerTerminationCondition &c1,
                                                                      const PlannerTerminationCondition &c2);
   
           PlannerTerminationCondition timedPlannerTerminationCondition(double duration);
   
           PlannerTerminationCondition timedPlannerTerminationCondition(time::duration duration);
   
           PlannerTerminationCondition timedPlannerTerminationCondition(double duration, double interval);
   
           PlannerTerminationCondition exactSolnPlannerTerminationCondition(const ompl::base::ProblemDefinitionPtr &pdef);
       }
   }
   
   #endif