ompl::tools::OptimizePlan Class Reference

Run one or more motion planners repeatedly (using a specified number of threads), and hybridize solutions, trying to optimize solutions. More...

#include <ompl/tools/multiplan/OptimizePlan.h>

## Public Member Functions

OptimizePlan (const base::ProblemDefinitionPtr &pdef)
Create an instance for a specified space information.

Add a planner allocator to use.

void clearPlanners ()
Clear the set of planners to be executed.

const base::ProblemDefinitionPtr & getProblemDefinition () const
Get the problem definition used.

base::ProblemDefinitionPtr & getProblemDefinition ()
Get the problem definition used.

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. If more than maxSol solutions are generated, stop generating more.

## Protected Attributes

ParallelPlan pp_
Instance of parallel planning to use for computing solutions in parallel.

std::vector< base::PlannerPtr > planners_
The set of planners to be used.

## Detailed Description

Run one or more motion planners repeatedly (using a specified number of threads), and hybridize solutions, trying to optimize solutions.

Definition at line 49 of file OptimizePlan.h.

The documentation for this class was generated from the following files: