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  {
50  {
51  public:
54  {
55  }
56 
57  virtual ~OptimizePlan() = default;
58 
60  void addPlanner(const base::PlannerPtr &planner);
61 
64 
66  void clearPlanners();
67 
70  {
71  return pp_.getProblemDefinition();
72  }
73 
77  base::PlannerStatus solve(double solveTime, unsigned int maxSol = 10, unsigned int nthreads = 1);
78 
79  protected:
82 
84  std::vector<base::PlannerPtr> planners_;
85  };
86  }
87 }
88 #endif
This is a utility that allows executing multiple planners in parallel, until one or more find a solut...
Definition: ParallelPlan.h:66
A shared pointer wrapper for ompl::base::ProblemDefinition.
std::vector< base::PlannerPtr > planners_
The set of planners to be used.
Definition: OptimizePlan.h:84
ParallelPlan pp_
Instance of parallel planning to use for computing solutions in parallel.
Definition: OptimizePlan.h:81
OptimizePlan(const base::ProblemDefinitionPtr &pdef)
Create an instance for a specified space information.
Definition: OptimizePlan.h:53
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
const base::ProblemDefinitionPtr & getProblemDefinition() const
Get the problem definition used.
Definition: OptimizePlan.h:69
A shared pointer wrapper for ompl::base::Planner.
void addPlannerAllocator(const base::PlannerAllocator &pa)
Add a planner allocator to use.
void addPlanner(const base::PlannerPtr &planner)
Add a planner to use.
Run one or more motion planners repeatedly (using a specified number of threads), and hybridize solut...
Definition: OptimizePlan.h:49
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
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:433
void clearPlanners()
Clear the set of planners to be executed.
const base::ProblemDefinitionPtr & getProblemDefinition() const
Get the problem definition used.
Definition: ParallelPlan.h:87