Loading...
Searching...
No Matches
OptimizePlan.h
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2012, Willow Garage, Inc.
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the Willow Garage nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_TOOLS_MULTIPLAN_OPTIMIZE_PLAN_
38#define OMPL_TOOLS_MULTIPLAN_OPTIMIZE_PLAN_
39
40#include "ompl/tools/multiplan/ParallelPlan.h"
41
42namespace ompl
43{
44 namespace tools
45 {
50 {
51 public:
53 OptimizePlan(const base::ProblemDefinitionPtr &pdef) : pp_(pdef)
54 {
55 }
56
57 virtual ~OptimizePlan() = default;
58
60 void addPlanner(const base::PlannerPtr &planner);
61
64
66 void clearPlanners();
67
69 const base::ProblemDefinitionPtr &getProblemDefinition() const
70 {
71 return pp_.getProblemDefinition();
72 }
73
75 base::ProblemDefinitionPtr &getProblemDefinition()
76 {
77 return pp_.getProblemDefinition();
78 }
79
83 base::PlannerStatus solve(double solveTime, unsigned int maxSol = 10, unsigned int nthreads = 1);
84
85 protected:
88
90 std::vector<base::PlannerPtr> planners_;
91 };
92 }
93}
94#endif
Run one or more motion planners repeatedly (using a specified number of threads), and hybridize solut...
void addPlanner(const base::PlannerPtr &planner)
Add a planner to use.
void clearPlanners()
Clear the set of planners to be executed.
ParallelPlan pp_
Instance of parallel planning to use for computing solutions in parallel.
const base::ProblemDefinitionPtr & getProblemDefinition() const
Get the problem definition used.
base::ProblemDefinitionPtr & getProblemDefinition()
Get the problem definition used.
base::PlannerStatus solve(double solveTime, unsigned int maxSol=10, unsigned int nthreads=1)
Try to solve the specified problem within a solveTime seconds, using at most nthreads threads....
void addPlannerAllocator(const base::PlannerAllocator &pa)
Add a planner allocator to use.
OptimizePlan(const base::ProblemDefinitionPtr &pdef)
Create an instance for a specified space information.
std::vector< base::PlannerPtr > planners_
The set of planners to be used.
This is a utility that allows executing multiple planners in parallel, until one or more find a solut...
std::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator
Definition of a function that can allocate a planner.
Definition Planner.h:437
Includes various tools such as self config, benchmarking, etc.
Main namespace. Contains everything in this library.
A class to store the exit status of Planner::solve()