CForest.h
170 void newSolutionFound(const base::Planner *planner, const std::vector<const base::State *> &states,
209 };
void setFocusSearch(const bool focus)
Option to control whether the search is focused during the search.
Definition: CForest.h:231
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: CForest.cpp:89
base::PlannerPtr & getPlannerInstance(const std::size_t idx)
Return an specific planner instance.
Definition: CForest.h:214
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:111
std::string getNumPathsShared() const
Get number of paths shared by the algorithm.
Definition: CForest.cpp:218
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:127
unsigned int numThreads_
Default number of threads to use when no planner instances are specified by the user.
Definition: CForest.h:304
std::mutex newSolutionFoundMutex_
Mutex to control the access to the newSolutionFound() method.
Definition: CForest.h:295
unsigned int getNumThreads()
Get default number of threads used by CForest when no planner instances are specified by the user.
Definition: CForest.h:247
std::string getNumStatesShared() const
Get number of states actually shared by the algorithm.
Definition: CForest.cpp:223
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: CForest.cpp:124
void setNumThreads(unsigned int numThreads=0)
Set default number of threads to use when no planner instances are specified by the user.
Definition: CForest.cpp:68
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: CForest.cpp:142
std::vector< base::StateSamplerPtr > samplers_
The set of sampler allocated by the planners.
Definition: CForest.h:280
base::OptimizationObjectivePtr opt_
Optimization objective taken into account when planning.
Definition: CForest.h:274
void addPlannerInstances(std::size_t num=2)
Add specific planner instances. CFOREST sets the planner's parameter named focus_search (if present) ...
Definition: CForest.h:199
std::unordered_set< const base::State * > statesShared_
Stores the states already shared to check if a specific state has been shared.
Definition: CForest.h:283
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: CForest.cpp:173