PlannerMultiLevel.h
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36 
37 /* Author: Andreas Orthey */
38 
39 #ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PLANNERMULTILEVEL_
40 #define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PLANNERMULTILEVEL_
41 #include <ompl/base/Planner.h>
42 
43 namespace ompl
44 {
45  namespace multilevel
46  {
51  class PlannerMultiLevel : public ompl::base::Planner
52  {
53  using BaseT = ompl::base::Planner;
54 
55  public:
58  PlannerMultiLevel(std::vector<ompl::base::SpaceInformationPtr> &siVec,
59  std::string type = "PlannerMultiLevel");
60 
62 
64 
65  virtual ~PlannerMultiLevel();
66 
69 
72 
75  const std::vector<ompl::base::ProblemDefinitionPtr> &getProblemDefinitionVector() const;
76 
78  virtual void clear() override;
79 
81  int getLevels() const;
82 
84  std::vector<int> getDimensionsPerLevel() const;
85 
86  protected:
88  std::vector<ompl::base::PathPtr> solutions_;
89 
91  std::vector<ompl::base::ProblemDefinitionPtr> pdefVec_;
92 
94  std::vector<ompl::base::SpaceInformationPtr> siVec_;
95  };
96  } // namespace multilevel
97 } // namespace ompl
98 #endif
Base class for a planner.
Definition: Planner.h:279
A shared pointer wrapper for ompl::base::SpaceInformation.
ompl::base::ProblemDefinitionPtr & getProblemDefinitionNonConst(int level)
Get ompl::base::ProblemDefinitionPtr for a specific level (non const)
int getLevels() const
Number of multilevel abstractions.
PlannerMultiLevel(std::vector< ompl::base::SpaceInformationPtr > &siVec, std::string type="PlannerMultiLevel")
Constructor for a set of ompl::base::SpaceInformationPtr which represent different abstraction levels...
const std::vector< ompl::base::ProblemDefinitionPtr > & getProblemDefinitionVector() const
Get all ompl::base::ProblemDefinitionPtr for all levels in the hierarchy.
virtual void clear() override
Clear multilevel planner by clearing all levels.
std::vector< ompl::base::ProblemDefinitionPtr > pdefVec_
Sequence of ProblemDefinitionPtr.
std::vector< int > getDimensionsPerLevel() const
Get dimensionality of the multilevel abstraction.
A shared pointer wrapper for ompl::base::ProblemDefinition.
std::vector< ompl::base::SpaceInformationPtr > siVec_
Each abstraction level has a unique ompl::base::SpaceInformationPtr.
std::vector< ompl::base::PathPtr > solutions_
Solution paths on each abstraction level.
const ProblemDefinitionPtr & getProblemDefinition() const
Get the problem definition the planner is trying to solve.
Definition: Planner.cpp:71
Main namespace. Contains everything in this library.