OptimizePlan.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_TOOLS_MULTIPLAN_OPTIMIZE_PLAN_
38 #define OMPL_TOOLS_MULTIPLAN_OPTIMIZE_PLAN_
39 
40 #include "ompl/tools/multiplan/ParallelPlan.h"
41 
42 namespace ompl
43 {
44  namespace tools
45  {
49  class OptimizePlan
50  {
51  public:
53  OptimizePlan(const base::ProblemDefinitionPtr &pdef) : pp_(pdef)
54  {
55  }
56 
57  virtual ~OptimizePlan() = default;
58 
60  void addPlanner(const base::PlannerPtr &planner);
61 
64 
66  void clearPlanners();
67 
69  const base::ProblemDefinitionPtr &getProblemDefinition() const
70  {
71  return pp_.getProblemDefinition();
72  }
73 
75  base::ProblemDefinitionPtr &getProblemDefinition()
76  {
77  return pp_.getProblemDefinition();
78  }
79 
83  base::PlannerStatus solve(double solveTime, unsigned int maxSol = 10, unsigned int nthreads = 1);
84 
85  protected:
87  ParallelPlan pp_;
88 
90  std::vector<base::PlannerPtr> planners_;
91  };
92  }
93 }
94 #endif
void clearPlanners()
Clear the set of planners to be executed.
ParallelPlan pp_
Instance of parallel planning to use for computing solutions in parallel.
Definition: OptimizePlan.h:183
std::vector< base::PlannerPtr > planners_
The set of planners to be used.
Definition: OptimizePlan.h:186
OptimizePlan(const base::ProblemDefinitionPtr &pdef)
Create an instance for a specified space information.
Definition: OptimizePlan.h:149
base::PlannerStatus solve(double solveTime, unsigned int maxSol=10, unsigned int nthreads=1)
Try to solve the specified problem within a solveTime seconds, using at most nthreads threads....
std::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator
Definition of a function that can allocate a planner.
Definition: Planner.h:501
const base::ProblemDefinitionPtr & getProblemDefinition() const
Get the problem definition used.
Definition: OptimizePlan.h:165
void addPlanner(const base::PlannerPtr &planner)
Add a planner to use.
const base::ProblemDefinitionPtr & getProblemDefinition() const
Get the problem definition used.
Definition: ParallelPlan.h:183
void addPlannerAllocator(const base::PlannerAllocator &pa)
Add a planner allocator to use.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21