Added a method to interrupt the roadmap builder during path planning process.

A CkwsPlusStopRdmBuilderDelegate is created and stored in ChppPlanner.
Upon calling ChppPlanner::roadmapBuilderIthProblem(), the delegate is
passed to the input roadmap builder.

Calling ChppPlanner::interruptPathPlanning() will interrupt the current path
planning process.

ChangeLog

-hppCore 1.4 released May 13, 2008
+	41. Added a method to interrupt the roadmap builder during path planning process.
+	
+hppCore 1.4 released June 13, 2008
 	
 	40. In ChppPlanner::solveOneProblem(): if direct path is valid between initial and goal 
 	configurations, add it in the roadmap.

include/hppCore/hppPlanner.h

@@ -19,6 +19,8 @@ INCLUDE
 
 #include "hppCore/hppProblem.h"
 
+#include "kwsPlusStopRdmBuilderDelegate.h"
+
 #ifndef WITHOUT_CHPPDEVICE
 KIT_PREDEF_CLASS( ChppBody );
 #endif
@@ -269,6 +271,13 @@ class ChppPlanner {
     */
     ktStatus solveOneProblem(unsigned int problemId);
 
+  /**
+     \brief Interrupt current roadmap builder.
+
+     \note if no roadmap builder is running, this will interrupt the next one that starts.
+  */
+  void interruptPathPlanning();
+
     /**
        \brief Optimize a given path
        \param inProblemId Id of the problem owning the path.
@@ -336,7 +345,16 @@ protected:
   */
   std::vector< CkcdObjectShPtr > mObstacleList;
 
-  // for nortification.
+private:
+
+  /**
+     \brief Roadmap builder delegate enabling to interrupt roadmap builder.
+  */
+  CkwsPlusStopRdmBuilderDelegate* attStopRdmBuilderDelegate;
+
+
+
+  // for notification.
  public:
   static const CkitNotification::TType ID_HPP_ADD_ROBOT;
   static const CkitNotification::TType ID_HPP_SET_CURRENT_CONFIG;

src/hppPlanner.cpp

@@ -58,6 +58,8 @@ ChppPlanner::ChppPlanner()
 {
   attNotificator = CkitNotificator::defaultNotificator(); 
   mObstacleList.clear();
+  attStopRdmBuilderDelegate = new CkwsPlusStopRdmBuilderDelegate;
+
 }
 
 
@@ -66,7 +68,7 @@ ChppPlanner::ChppPlanner()
 
 ChppPlanner::~ChppPlanner()
 {
-  // delete hppNotificator;
+  delete attStopRdmBuilderDelegate;
 }
 
 // ==========================================================================
@@ -282,6 +284,10 @@ ktStatus ChppPlanner::roadmapBuilderIthProblem(unsigned int rank,
   notification->unsignedIntValue(ChppPlanner::ROADMAP_KEY, rank);
   attNotificator->notify(notification);
 
+  /*
+    Add an interruption delegate to the roadmap builder
+  */
+  inRoadmapBuilder->addDelegate(attStopRdmBuilderDelegate);
   ChppProblem& hppProblem =  hppProblemVector[rank];
   hppProblem.roadmapBuilder(inRoadmapBuilder);
   
@@ -679,3 +685,12 @@ ktStatus ChppPlanner::solve()
   }
   return success;
 }
+
+void ChppPlanner::interruptPathPlanning()
+{
+  if (attStopRdmBuilderDelegate == NULL) {
+    ODEBUG1(":interruptPathPlanning: no stop delegate.");
+    return;
+  }
+  attStopRdmBuilderDelegate->shouldStop(true);
+}