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ParallelPlan.h
133 base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc, std::size_t minSolCount,
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition PlannerTerminationCondition.h:64
Given multiple geometric paths, attempt to combine them in order to obtain a shorter solution.
Definition PathHybridization.h:71
This is a utility that allows executing multiple planners in parallel, until one or more find a solut...
Definition ParallelPlan.h:67
const base::ProblemDefinitionPtr & getProblemDefinition() const
Get the problem definition used.
Definition ParallelPlan.h:87
void addPlannerAllocator(const base::PlannerAllocator &pa)
Add a planner allocator to use.
Definition ParallelPlan.cpp:57
ParallelPlan(const base::ProblemDefinitionPtr &pdef)
Create an instance for a specified space information.
Definition ParallelPlan.cpp:41
void solveMore(base::Planner *planner, std::size_t minSolCount, std::size_t maxSolCount, const base::PlannerTerminationCondition *ptc)
Run the planner and collect the solutions. This function is only called if hybridize_ is true.
Definition ParallelPlan.cpp:169
void solveOne(base::Planner *planner, std::size_t minSolCount, const base::PlannerTerminationCondition *ptc)
Run the planner and call ompl::base::PlannerTerminationCondition::terminate() for the other planners ...
Definition ParallelPlan.cpp:144
base::ProblemDefinitionPtr & getProblemDefinition()
Get the problem definition used.
Definition ParallelPlan.h:93
base::PlannerStatus solve(double solveTime, bool hybridize=true)
Call Planner::solve() for all planners, in parallel, each planner running for at most solveTime secon...
Definition ParallelPlan.cpp:74
geometric::PathHybridizationPtr phybrid_
The instance of the class that performs path hybridization.
Definition ParallelPlan.h:153
void clearHybridizationPaths()
Clear the set of paths recorded for hybrididzation.
Definition ParallelPlan.cpp:69
std::vector< base::PlannerPtr > planners_
The set of planners to be used.
Definition ParallelPlan.h:150
std::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator
Definition of a function that can allocate a planner.
Definition Planner.h:437
This namespace contains code that is specific to planning under geometric constraints.
Definition GeneticSearch.h:48
Includes various tools such as self config, benchmarking, etc.
Definition LightningRetrieveRepair.h:48
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66
A class to store the exit status of Planner::solve()
Definition PlannerStatus.h:49