GPU-Accelerated Coverage  0.1.0
Compute coverage tours for known environment with articulated objects on GPU
AbstractTask.h
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30 
31 #ifndef INCLUDE_ARTICULATION_ABSTRACTTASK_H_
32 #define INCLUDE_ARTICULATION_ABSTRACTTASK_H_
33 
34 #include <pthread.h>
35 
36 namespace gpu_coverage {
37 
43 struct SharedData {
44  pthread_barrier_t barrier;
45  pthread_mutex_t mutex;
46  size_t numThreads;
47 };
48 
59 class AbstractTask {
60 public:
68  AbstractTask(SharedData * const sharedData, const size_t threadNr);
69 
73  virtual ~AbstractTask();
77  virtual void run() = 0;
78 
82  virtual void finish();
83 
88  inline bool isReady() const {
89  return ready;
90  }
91 
98  inline void setSeed(unsigned int seed) {
99  this->seed = seed;
100  }
101 
102 protected:
103  const size_t threadNr;
104  bool ready;
106 
107  unsigned int seed;
108 
109 };
110 
111 } /* namespace gpu_coverage */
112 
113 #endif /* INCLUDE_ARTICULATION_ABSTRACTTASK_H_ */
Abstract superclass for parallel tasks.
Definition: AbstractTask.h:59
unsigned int seed
Random seed.
Definition: AbstractTask.h:107
void setSeed(unsigned int seed)
Definition: AbstractTask.h:98
SharedData *const sharedData
Task synchronization objects.
Definition: AbstractTask.h:105
Shared data for parallel tasks.
Definition: AbstractTask.h:43
bool ready
Set to true when renderer is ready, see isReady().
Definition: AbstractTask.h:104
const size_t threadNr
Thread number.
Definition: AbstractTask.h:103
Definition: AbstractCamera.h:41
bool isReady() const
Definition: AbstractTask.h:88