OptimizePlan.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_TOOLS_MULTIPLAN_OPTIMIZE_PLAN_
#define OMPL_TOOLS_MULTIPLAN_OPTIMIZE_PLAN_
 
#include "ompl/tools/multiplan/ParallelPlan.h"
 
namespace ompl
{
    namespace tools
    {
        class OptimizePlan
        {
        public:
            OptimizePlan(const base::ProblemDefinitionPtr &pdef) : pp_(pdef)
            {
            }
 
            virtual ~OptimizePlan() = default;
 
            void addPlanner(const base::PlannerPtr &planner);
 
            void addPlannerAllocator(const base::PlannerAllocator &pa);
 
            void clearPlanners();
 
            const base::ProblemDefinitionPtr &getProblemDefinition() const
            {
                return pp_.getProblemDefinition();
            }
 
            base::ProblemDefinitionPtr &getProblemDefinition()
            {
                return pp_.getProblemDefinition();
            }
 
            base::PlannerStatus solve(double solveTime, unsigned int maxSol = 10, unsigned int nthreads = 1);
 
        protected:
            ParallelPlan pp_;
 
            std::vector<base::PlannerPtr> planners_;
        };
    }
}
#endif