PlannerMonitor.h
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34
35/* Author Ioan Sucan */
36
37#ifndef OMPL_TOOLS_DEBUG_PLANNER_MONITOR_
38#define OMPL_TOOLS_DEBUG_PLANNER_MONITOR_
39
40#include <iostream>
41#include <boost/scoped_ptr.hpp>
42#include <thread>
43#include <utility>
44
45#include "ompl/base/Planner.h"
46
47namespace ompl
48{
49 namespace tools
50 {
54 {
55 public:
56 // non-copyright
57 PlannerMonitor(const PlannerMonitor &) = delete;
58 PlannerMonitor &operator=(const PlannerMonitor &) = delete;
59
64 PlannerMonitor(base::PlannerPtr planner, std::ostream &out, double period = 0.5, bool autoStart = true)
65 : planner_(std::move(planner)), out_(out), period_(period), shouldMonitor_(false)
66 {
67 if (autoStart)
69 }
70
73 {
75 }
76
78 void startMonitor();
79
81 void stopMonitor();
82
83 private:
84 void threadFunction();
85
86 base::PlannerPtr planner_;
87 std::ostream &out_;
88 double period_;
89 bool shouldMonitor_;
90 boost::scoped_ptr<std::thread> monitorThread_;
91 };
92 }
93}
94
95#endif
Monitor the properties a planner exposes, as the planner is running. Dump the planner properties to a...
void startMonitor()
Start the monitoring thread.
PlannerMonitor(base::PlannerPtr planner, std::ostream &out, double period=0.5, bool autoStart=true)
Monitor a planner instance, and dump its properties to a specified stream, periodically.
void stopMonitor()
Stop the monitoring thread (automatically stopped by the destructor).
Main namespace. Contains everything in this library.
STL namespace.