PlannerMultiLevel.h

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/* Author: Andreas Orthey */
 
#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PLANNERMULTILEVEL_
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PLANNERMULTILEVEL_
#include <ompl/base/Planner.h>
 
namespace ompl
{
    namespace multilevel
    {
        class PlannerMultiLevel : public ompl::base::Planner
        {
            using BaseT = ompl::base::Planner;
 
        public:
            PlannerMultiLevel(std::vector<ompl::base::SpaceInformationPtr> &siVec,
                              std::string type = "PlannerMultiLevel");
 
            PlannerMultiLevel(ompl::base::SpaceInformationPtr si);
 
            PlannerMultiLevel(ompl::base::SpaceInformationPtr si, std::string type);
 
            virtual ~PlannerMultiLevel();
 
            const ompl::base::ProblemDefinitionPtr &getProblemDefinition(int level) const;
 
            ompl::base::ProblemDefinitionPtr &getProblemDefinitionNonConst(int level);
 
            const std::vector<ompl::base::ProblemDefinitionPtr> &getProblemDefinitionVector() const;
 
            virtual void clear() override;
 
            int getLevels() const;
 
            std::vector<int> getDimensionsPerLevel() const;
 
        protected:
            std::vector<ompl::base::PathPtr> solutions_;
 
            std::vector<ompl::base::ProblemDefinitionPtr> pdefVec_;
 
            std::vector<ompl::base::SpaceInformationPtr> siVec_;
        };
    }  // namespace multilevel
}  // namespace ompl
#endif