{

boost::mutex planner_mutex_;

boost::condition_variable planner_cond_;

//we have a goal so start the planner

boost::thread* planner_thread_;

//set up the planner's thread

myboost()

{

planner_thread_ = new boost::thread(boost::bind(&myboost::planThread, this));

spin();

}

~myboost()

{

//planner_thread_->interrupt();

// planner_thread_->join();

// delete planner_thread_;

}

void spin()

{

int ii=0;

while(true)

{

std::cin>> ii;

if (ii==3)

{

boost::unique_lock<boost::mutex> lock(planner_mutex_);

planner_cond_.notify_one();

lock.unlock();

}

}

}

void planThread(){

std::cout<<63<<std::endl;

bool wait_for_wake = false;

boost::unique_lock<boost::mutex> lock(planner_mutex_);

while(true){

std::cout<<67<<std::endl;

//check if we should run the planner (the mutex is locked)

planner_cond_.wait(lock);

std::cout<<72<<std::endl;

}

}

{

myboost myb;