ParallelPlan.h

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/* Author: Ioan Sucan */

#ifndef OMPL_TOOLS_MULTIPLAN_PARALLEL_PLAN_
#define OMPL_TOOLS_MULTIPLAN_PARALLEL_PLAN_

#include "ompl/base/Planner.h"
#include "ompl/geometric/PathGeometric.h"
#include <mutex>

namespace ompl
{
    namespace geometric
    {
        OMPL_CLASS_FORWARD(PathHybridization);
    }

    namespace tools
    {
        OMPL_CLASS_FORWARD(ParallelPlan);

        class ParallelPlan
        {
        public:
            ParallelPlan(const base::ProblemDefinitionPtr &pdef);

            virtual ~ParallelPlan();

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

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

            void clearHybridizationPaths();

            void clearPlanners();

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

            base::PlannerStatus solve(double solveTime, bool hybridize = true);

            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc, bool hybridize = true);

            base::PlannerStatus solve(double solveTime, std::size_t minSolCount, std::size_t maxSolCount,
                                      bool hybridize = true);

            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc, std::size_t minSolCount,
                                      std::size_t maxSolCount, bool hybridize = true);

        protected:
            void solveOne(base::Planner *planner, std::size_t minSolCount,
                          const base::PlannerTerminationCondition *ptc);

            void solveMore(base::Planner *planner, std::size_t minSolCount, std::size_t maxSolCount,
                           const base::PlannerTerminationCondition *ptc);

            base::ProblemDefinitionPtr pdef_;

            std::vector<base::PlannerPtr> planners_;

            geometric::PathHybridizationPtr phybrid_;

            std::mutex phlock_;

        private:
            unsigned int foundSolCount_;

            std::mutex foundSolCountLock_;
        };
    }
}

#endif