IdGenerator.h
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2014, University of Toronto
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the University of Toronto nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Authors: Jonathan Gammell */
36
37#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_BITSTAR_IDGENERATOR_
38#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_BITSTAR_IDGENERATOR_
39
40// I am member class of the BITstar class, so I need to include it's definition to be aware of the class BITstar. It has
41// a forward declaration to me.
42#include "ompl/geometric/planners/informedtrees/BITstar.h"
43
44#include <thread>
45#include <mutex>
46// For boost::scoped_ptr
47#include <boost/scoped_ptr.hpp>
48
49namespace ompl
50{
51 namespace geometric
52 {
59 {
60 public:
61 IdGenerator() = default;
62
65 {
66 // Create a scoped mutex copy of idMutex that unlocks when it goes out of scope:
67 std::lock_guard<std::mutex> lockGuard(idMutex_);
68
69 // Return the next id, purposefully post-decrementing:
70 return nextId_++;
71 }
72
73 private:
74 // Variables:
75 // The next ID to be returned. We never use 0.
76 BITstar::VertexId nextId_{1u};
77 // The mutex
78 std::mutex idMutex_;
79 };
80 } // geometric
81} // ompl
82
83
84#endif // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_BITSTAR_IDGENERATOR_
An ID generator class for vertex IDs.
Definition: IdGenerator.h:59
BITstar::VertexId getNewId()
Generator a new id and increment the global/static counter of IDs.
Definition: IdGenerator.h:64
unsigned int VertexId
The vertex id type.
Definition: BITstar.h:131
Main namespace. Contains everything in this library.