ParallelPlan.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_TOOLS_MULTIPLAN_PARALLEL_PLAN_
38 #define OMPL_TOOLS_MULTIPLAN_PARALLEL_PLAN_
39 
40 #include "ompl/base/Planner.h"
41 #include "ompl/geometric/PathGeometric.h"
42 #include <mutex>
43 
44 namespace ompl
45 {
47  namespace geometric
48  {
49  OMPL_CLASS_FORWARD(PathHybridization);
50  }
52 
53  namespace tools
54  {
56  OMPL_CLASS_FORWARD(ParallelPlan);
58 
67  {
68  public:
70  ParallelPlan(const base::ProblemDefinitionPtr &pdef);
71 
72  virtual ~ParallelPlan();
73 
75  void addPlanner(const base::PlannerPtr &planner);
76 
79 
82 
84  void clearPlanners();
85 
87  const base::ProblemDefinitionPtr &getProblemDefinition() const
88  {
89  return pdef_;
90  }
91 
93  base::ProblemDefinitionPtr &getProblemDefinition()
94  {
95  return pdef_;
96  }
97 
104  base::PlannerStatus solve(double solveTime, bool hybridize = true);
105 
112  base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc, bool hybridize = true);
113 
122  base::PlannerStatus solve(double solveTime, std::size_t minSolCount, std::size_t maxSolCount,
123  bool hybridize = true);
124 
133  base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc, std::size_t minSolCount,
134  std::size_t maxSolCount, bool hybridize = true);
135 
136  protected:
139  void solveOne(base::Planner *planner, std::size_t minSolCount,
141 
143  void solveMore(base::Planner *planner, std::size_t minSolCount, std::size_t maxSolCount,
145 
147  base::ProblemDefinitionPtr pdef_;
148 
150  std::vector<base::PlannerPtr> planners_;
151 
153  geometric::PathHybridizationPtr phybrid_;
154 
156  std::mutex phlock_;
157 
158  private:
160  unsigned int foundSolCount_;
161 
163  std::mutex foundSolCountLock_;
164  };
165  }
166 }
167 
168 #endif
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Base class for a planner.
Definition: Planner.h:223
This is a utility that allows executing multiple planners in parallel, until one or more find a solut...
Definition: ParallelPlan.h:67
const base::ProblemDefinitionPtr & getProblemDefinition() const
Get the problem definition used.
Definition: ParallelPlan.h:87
void addPlanner(const base::PlannerPtr &planner)
Add a planner to use.
void addPlannerAllocator(const base::PlannerAllocator &pa)
Add a planner allocator to use.
ParallelPlan(const base::ProblemDefinitionPtr &pdef)
Create an instance for a specified space information.
void solveMore(base::Planner *planner, std::size_t minSolCount, std::size_t maxSolCount, const base::PlannerTerminationCondition *ptc)
Run the planner and collect the solutions. This function is only called if hybridize_ is true.
base::ProblemDefinitionPtr pdef_
The problem definition used.
Definition: ParallelPlan.h:147
void solveOne(base::Planner *planner, std::size_t minSolCount, const base::PlannerTerminationCondition *ptc)
Run the planner and call ompl::base::PlannerTerminationCondition::terminate() for the other planners ...
void clearPlanners()
Clear the set of planners to be executed.
std::mutex phlock_
Lock for phybrid_.
Definition: ParallelPlan.h:156
base::PlannerStatus solve(double solveTime, bool hybridize=true)
Call Planner::solve() for all planners, in parallel, each planner running for at most solveTime secon...
geometric::PathHybridizationPtr phybrid_
The instance of the class that performs path hybridization.
Definition: ParallelPlan.h:153
base::ProblemDefinitionPtr & getProblemDefinition()
Get the problem definition used.
Definition: ParallelPlan.h:93
void clearHybridizationPaths()
Clear the set of paths recorded for hybrididzation.
std::vector< base::PlannerPtr > planners_
The set of planners to be used.
Definition: ParallelPlan.h:150
std::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator
Definition of a function that can allocate a planner.
Definition: Planner.h:444
Main namespace. Contains everything in this library.
Definition: AppBase.h:22
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49