void ompl::geometric::pSBL::threadSolve(unsigned int tid, const base::PlannerTerminationCondition &ptc, SolutionInfo *sol)
{
RNG rng;
std::vector<Motion*> solution;
base::State *xstate = si_->allocState();
bool startTree = rng.uniformBool();
while (!sol->found && ptc == false)
{
bool retry = true;
while (retry && !sol->found && ptc == false)
{
removeList_.lock.lock();
if (!removeList_.motions.empty())
{
if (loopLock_.try_lock())
{
retry = false;
std::map<Motion*, bool> seen;
for (unsigned int i = 0 ; i < removeList_.motions.size() ; ++i)
if (seen.find(removeList_.motions[i].motion) == seen.end())
removeMotion(*removeList_.motions[i].tree, removeList_.motions[i].motion, seen);
removeList_.motions.clear();
loopLock_.unlock();
}
}
else
retry = false;
removeList_.lock.unlock();
}
if (sol->found || ptc)
break;
loopLockCounter_.lock();
if (loopCounter_ == 0)
loopLock_.lock();
loopCounter_++;
loopLockCounter_.unlock();
TreeData &tree = startTree ? tStart_ : tGoal_;
startTree = !startTree;
TreeData &otherTree = startTree ? tStart_ : tGoal_;
Motion *existing = selectMotion(rng, tree);
if (!samplerArray_[tid]->sampleNear(xstate, existing->state, maxDistance_))
continue;
/* create a motion */
Motion *motion = new Motion(si_);
si_->copyState(motion->state, xstate);
motion->parent = existing;
motion->root = existing->root;
existing->lock.lock();
existing->children.push_back(motion);
existing->lock.unlock();
addMotion(tree, motion);
if (checkSolution(rng, !startTree, tree, otherTree, motion, solution))
{
sol->lock.lock();
if (!sol->found)
{
sol->found = true;
PathGeometric *path = new PathGeometric(si_);
for (unsigned int i = 0 ; i < solution.size() ; ++i)
path->append(solution[i]->state);
pdef_->addSolutionPath(base::PathPtr(path), false, 0.0, getName());
}
sol->lock.unlock();
}
loopLockCounter_.lock();
loopCounter_--;
if (loopCounter_ == 0)
loopLock_.unlock();
loopLockCounter_.unlock();
}
si_->freeState(xstate);
}
