Saba::PathProcessingThread Class Reference

This class can be used to start a path processing algorithm in a thread. More...

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	PathProcessingThread (PathProcessorPtr processor)
	constructor More...
virtual	~PathProcessingThread ()
	destructor More...
virtual void	start (int optimizeSteps)
virtual void	interrupt (bool waitUntilStopped=false)
void	stop ()
bool	isRunning ()
PathProcessorPtr	getPathProcessor ()
CSpacePathPtr	getProcessedPath ()
	Returns the optimized path (when optimizer is finished) More...

Protected Member Functions
void	workingMethod ()

Protected Attributes
bool	threadStarted
bool	processingFinished
PathProcessorPtr	pathProcessor
std::thread	processingThread
std::mutex	mutex
CSpacePathPtr	resultPath
int	optimizeSteps

Detailed Description

This class can be used to start a path processing algorithm in a thread.

Constructor & Destructor Documentation

PathProcessingThread()

Saba::PathProcessingThread::PathProcessingThread

(

PathProcessorPtr

processor

)

constructor

Constructor The thread is not started until you call start()

Parameters

processor

An initialized path processor to be started.

~PathProcessingThread()

Saba::PathProcessingThread::~PathProcessingThread ( )

virtual

destructor

Member Function Documentation

getPathProcessor()

PathProcessorPtr Saba::PathProcessingThread::getPathProcessor

(

)

getProcessedPath()

Saba::CSpacePathPtr Saba::PathProcessingThread::getProcessedPath

(

)

Returns the optimized path (when optimizer is finished)

interrupt()

void Saba::PathProcessingThread::interrupt ( bool  waitUntilStopped = false )

virtual

Send an interrupt signal to thread.

Parameters

waitUntilStopped

If false this method returns immediately. Otherwise we wait until the thread has been successfully interrupted.

isRunning()

bool Saba::PathProcessingThread::isRunning

(

)

Returns

True if the planning thread is operating

start()

void Saba::PathProcessingThread::start ( int  optimizeSteps )

virtual

Start the path processing in an own thread.

stop()

void Saba::PathProcessingThread::stop

(

)

Same as interrupt(true)

workingMethod()

void Saba::PathProcessingThread::workingMethod ( )

protected

Here the post processing takes place.

Field Documentation

mutex

std::mutex Saba::PathProcessingThread::mutex

protected

optimizeSteps

int Saba::PathProcessingThread::optimizeSteps

protected

pathProcessor

PathProcessorPtr Saba::PathProcessingThread::pathProcessor

protected

processingFinished

bool Saba::PathProcessingThread::processingFinished

protected

processingThread

std::thread Saba::PathProcessingThread::processingThread

protected

resultPath

CSpacePathPtr Saba::PathProcessingThread::resultPath

protected

threadStarted

bool Saba::PathProcessingThread::threadStarted

protected