OptimizePlan.h
83 base::PlannerStatus solve(double solveTime, unsigned int maxSol = 10, unsigned int nthreads = 1);
ParallelPlan pp_
Instance of parallel planning to use for computing solutions in parallel.
Definition: OptimizePlan.h:87
base::ProblemDefinitionPtr & getProblemDefinition()
Get the problem definition used.
Definition: OptimizePlan.h:75
Run one or more motion planners repeatedly (using a specified number of threads), and hybridize solut...
Definition: OptimizePlan.h:50
std::vector< base::PlannerPtr > planners_
The set of planners to be used.
Definition: OptimizePlan.h:90
OptimizePlan(const base::ProblemDefinitionPtr &pdef)
Create an instance for a specified space information.
Definition: OptimizePlan.h:53
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....
Definition: OptimizePlan.cpp:58
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49
std::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator
Definition of a function that can allocate a planner.
Definition: Planner.h:444
const base::ProblemDefinitionPtr & getProblemDefinition() const
Get the problem definition used.
Definition: OptimizePlan.h:69
This is a utility that allows executing multiple planners in parallel, until one or more find a solut...
Definition: ParallelPlan.h:67
void addPlanner(const base::PlannerPtr &planner)
Add a planner to use.
Definition: OptimizePlan.cpp:41
const base::ProblemDefinitionPtr & getProblemDefinition() const
Get the problem definition used.
Definition: ParallelPlan.h:87
void addPlannerAllocator(const base::PlannerAllocator &pa)
Add a planner allocator to use.
Definition: OptimizePlan.cpp:48