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ParallelPlan.h
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34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_TOOLS_MULTIPLAN_PARALLEL_PLAN_
38#define OMPL_TOOLS_MULTIPLAN_PARALLEL_PLAN_
39
40#include "ompl/base/Planner.h"
41#include "ompl/geometric/PathGeometric.h"
42#include <mutex>
43
44namespace ompl
45{
47 namespace geometric
48 {
49 OMPL_CLASS_FORWARD(PathHybridization);
50 }
52
53 namespace tools
54 {
56 OMPL_CLASS_FORWARD(ParallelPlan);
58
67 {
68 public:
70 ParallelPlan(const base::ProblemDefinitionPtr &pdef);
71
72 virtual ~ParallelPlan();
73
75 void addPlanner(const base::PlannerPtr &planner);
76
79
82
84 void clearPlanners();
85
87 const base::ProblemDefinitionPtr &getProblemDefinition() const
88 {
89 return pdef_;
90 }
91
93 base::ProblemDefinitionPtr &getProblemDefinition()
94 {
95 return pdef_;
96 }
97
104 base::PlannerStatus solve(double solveTime, bool hybridize = true);
105
112 base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc, bool hybridize = true);
113
122 base::PlannerStatus solve(double solveTime, std::size_t minSolCount, std::size_t maxSolCount,
123 bool hybridize = true);
124
133 base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc, std::size_t minSolCount,
134 std::size_t maxSolCount, bool hybridize = true);
135
136 protected:
139 void solveOne(base::Planner *planner, std::size_t minSolCount,
141
143 void solveMore(base::Planner *planner, std::size_t minSolCount, std::size_t maxSolCount,
145
147 base::ProblemDefinitionPtr pdef_;
148
150 std::vector<base::PlannerPtr> planners_;
151
153 geometric::PathHybridizationPtr phybrid_;
154
156 std::mutex phlock_;
157
158 private:
160 unsigned int foundSolCount_;
161
163 std::mutex foundSolCountLock_;
164 };
165 }
166}
167
168#endif
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Base class for a planner.
Definition Planner.h:216
This is a utility that allows executing multiple planners in parallel, until one or more find a solut...
const base::ProblemDefinitionPtr & getProblemDefinition() const
Get the problem definition used.
void addPlanner(const base::PlannerPtr &planner)
Add a planner to use.
void addPlannerAllocator(const base::PlannerAllocator &pa)
Add a planner allocator to use.
ParallelPlan(const base::ProblemDefinitionPtr &pdef)
Create an instance for a specified space information.
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.
base::ProblemDefinitionPtr pdef_
The problem definition used.
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 ...
void clearPlanners()
Clear the set of planners to be executed.
base::ProblemDefinitionPtr & getProblemDefinition()
Get the problem definition used.
std::mutex phlock_
Lock for phybrid_.
base::PlannerStatus solve(double solveTime, bool hybridize=true)
Call Planner::solve() for all planners, in parallel, each planner running for at most solveTime secon...
geometric::PathHybridizationPtr phybrid_
The instance of the class that performs path hybridization.
void clearHybridizationPaths()
Clear the set of paths recorded for hybrididzation.
std::vector< base::PlannerPtr > planners_
The set of planners to be used.
std::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator
Definition of a function that can allocate a planner.
Definition Planner.h:437
Main namespace. Contains everything in this library.
A class to store the exit status of Planner::solve()