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.
 
void addPlanner (const base::PlannerPtr &planner)
 Add a planner to use.
 
void addPlannerAllocator (const base::PlannerAllocator &pa)
 Add a planner allocator to use.
 
void clearPlanners ()
 Clear the set of planners to be executed.
 
const base::ProblemDefinitionPtrgetProblemDefinition () const
 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::PlannerPtrplanners_
 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: