OptimizePlan.cpp
43 if (planner && planner->getSpaceInformation().get() != getProblemDefinition()->getSpaceInformation().get())
58 ompl::base::PlannerStatus ompl::tools::OptimizePlan::solve(double solveTime, unsigned int maxSol, unsigned int nthreads)
78 base::PlannerStatus localResult = pp_.solve(std::max(time::seconds(end - time::now()), 0.0), true);
108 geometric::PathGeometric *p = dynamic_cast<geometric::PathGeometric*>(pdef->getSolutionPath().get());
void clearHybridizationPaths()
Clear the set of paths recorded for hybrididzation.
Definition: ParallelPlan.cpp:70
A boost shared pointer wrapper for ompl::base::ProblemDefinition.
std::vector< base::PlannerPtr > planners_
The set of planners to be used.
Definition: OptimizePlan.h:87
ParallelPlan pp_
Instance of parallel planning to use for computing solutions in parallel.
Definition: OptimizePlan.h:84
void simplify(PathGeometric &path, double maxTime)
Run simplification algorithms on the path for at most maxTime seconds.
Definition: PathSimplifier.cpp:393
boost::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator
Definition of a function that can allocate a planner.
Definition: Planner.h:422
duration seconds(double sec)
Return the time duration representing a given number of seconds.
Definition: Time.h:62
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:75
const base::ProblemDefinitionPtr & getProblemDefinition() const
Get the problem definition used.
Definition: OptimizePlan.h:72
A boost shared pointer wrapper for ompl::base::Planner.
void addPlannerAllocator(const base::PlannerAllocator &pa)
Add a planner allocator to use.
Definition: OptimizePlan.cpp:48
void addPlanner(const base::PlannerPtr &planner)
Add a planner to use.
Definition: OptimizePlan.cpp:41
The planner found an exact solution.
Definition: PlannerStatus.h:66
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
This class contains routines that attempt to simplify geometric paths.
Definition: PathSimplifier.h:66
void addPlanner(const base::PlannerPtr &planner)
Add a planner to use.
Definition: ParallelPlan.cpp:49
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...
Definition: OptimizePlan.cpp:58
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47