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/* Author: Mark Moll */

#include "ompl/base/terminationconditions/IterationTerminationCondition.h"

ompl::base::IterationTerminationCondition::IterationTerminationCondition(unsigned int numIterations)
  : maxCalls_(numIterations), timesCalled_(0u)
{
}

bool ompl::base::IterationTerminationCondition::eval()
{
    ++timesCalled_;

    return (timesCalled_ > maxCalls_);
}

void ompl::base::IterationTerminationCondition::reset()
{
    timesCalled_ = 0u;
}

ompl::base::IterationTerminationCondition::operator ompl::base::PlannerTerminationCondition()
{
    auto &c = *this;
    return PlannerTerminationCondition([c]() mutable { return c.eval(); });
}
