IterationTerminationCondition::operator PlannerTerminationCondition()
{
return PlannerTerminationCondition( boost::bind(&IterationTerminationCondition::eval, this) );
}
ompl::base::PlannerStatus ompl::base::Planner::solve(const PlannerTerminationConditionFn &ptc, double checkInterval)
{
return solve(PlannerTerminationCondition(ptc, checkInterval));
}
ompl::base::PlannerTerminationCondition ompl::base::timedPlannerTerminationCondition(double duration, double interval)
{
if (interval > duration)
interval = duration;
return PlannerTerminationCondition(boost::bind(&timePassed, time::now() + time::seconds(duration)), interval);
}
ompl::base::PlannerTerminationCondition ompl::base::exactSolnPlannerTerminationCondition(ompl::base::ProblemDefinitionPtr pdef)
{
return PlannerTerminationCondition(boost::bind(&ProblemDefinition::hasExactSolution, pdef));
}
ompl::base::PlannerTerminationCondition ompl::base::plannerAndTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2)
{
return PlannerTerminationCondition(boost::bind(&plannerAndTerminationConditionAux, c1, c2));
}
ompl::base::PlannerTerminationCondition ompl::base::timedPlannerTerminationCondition(double duration)
{
return PlannerTerminationCondition(boost::bind(&timePassed, time::now() + time::seconds(duration)));
}
ompl::base::PlannerTerminationCondition ompl::base::plannerAlwaysTerminatingCondition()
{
return PlannerTerminationCondition(boost::lambda::constant(true));
}
ompl::base::PlannerTerminationCondition ompl::base::plannerNonTerminatingCondition()
{
return PlannerTerminationCondition(boost::lambda::constant(false));
}
ompl::base::PlannerTerminationCondition ompl::base::timedPlannerTerminationCondition(time::duration duration)
{
return PlannerTerminationCondition(std::bind(&timePassed, time::now() + duration));
}
ompl::base::PlannerTerminationCondition ompl::base::plannerAlwaysTerminatingCondition()
{
return PlannerTerminationCondition([] { return true; });
}
ompl::base::PlannerTerminationCondition ompl::base::plannerNonTerminatingCondition()
{
return PlannerTerminationCondition([] { return false; });
}
