OptimizePlan.h

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/* Author: Ioan Sucan */

#ifndef OMPL_TOOLS_MULTIPLAN_OPTIMIZE_PLAN_
#define OMPL_TOOLS_MULTIPLAN_OPTIMIZE_PLAN_

#include "ompl/tools/multiplan/ParallelPlan.h"

namespace ompl
{
    namespace tools
    {
        class OptimizePlan
        {
        public:
            OptimizePlan(const base::ProblemDefinitionPtr &pdef) : pp_(pdef)
            {
            }

            virtual ~OptimizePlan() = default;

            void addPlanner(const base::PlannerPtr &planner);

            void addPlannerAllocator(const base::PlannerAllocator &pa);

            void clearPlanners();

            const base::ProblemDefinitionPtr &getProblemDefinition() const
            {
                return pp_.getProblemDefinition();
            }

            base::PlannerStatus solve(double solveTime, unsigned int maxSol = 10, unsigned int nthreads = 1);

        protected:
            ParallelPlan pp_;

            std::vector<base::PlannerPtr> planners_;
        };
    }
}
#endif