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

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::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 113 of file OptimizePlan.h.

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

Public Member Functions