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ompl::tools::OptimizePlan Class Reference

Run one or more motion planners repeatedly (using a specified number of threads), and hybridize solutions, trying to optimize solutions. More...

#include <ompl/tools/multiplan/OptimizePlan.h>

Public Member Functions

 OptimizePlan (const base::ProblemDefinitionPtr &pdef)
 Create an instance for a specified space information.
 
void addPlanner (const base::PlannerPtr &planner)
 Add a planner to use.
 
void addPlannerAllocator (const base::PlannerAllocator &pa)
 Add a planner allocator to use.
 
void clearPlanners ()
 Clear the set of planners to be executed.
 
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. If more than maxSol solutions are generated, stop generating more.
 

Protected Attributes

ParallelPlan pp_
 Instance of parallel planning to use for computing solutions in parallel.
 
std::vector< base::PlannerPtr > planners_
 The set of planners to be used.
 

Detailed Description

Run one or more motion planners repeatedly (using a specified number of threads), and hybridize solutions, trying to optimize solutions.

Definition at line 49 of file OptimizePlan.h.

Constructor & Destructor Documentation

◆ OptimizePlan()

ompl::tools::OptimizePlan::OptimizePlan ( const base::ProblemDefinitionPtr &  pdef)
inline

Create an instance for a specified space information.

Definition at line 53 of file OptimizePlan.h.

Member Function Documentation

◆ addPlanner()

void ompl::tools::OptimizePlan::addPlanner ( const base::PlannerPtr &  planner)

Add a planner to use.

Definition at line 41 of file OptimizePlan.cpp.

◆ addPlannerAllocator()

void ompl::tools::OptimizePlan::addPlannerAllocator ( const base::PlannerAllocator pa)

Add a planner allocator to use.

Definition at line 48 of file OptimizePlan.cpp.

◆ clearPlanners()

void ompl::tools::OptimizePlan::clearPlanners ( )

Clear the set of planners to be executed.

Definition at line 53 of file OptimizePlan.cpp.

◆ getProblemDefinition() [1/2]

base::ProblemDefinitionPtr & ompl::tools::OptimizePlan::getProblemDefinition ( )
inline

Get the problem definition used.

Definition at line 75 of file OptimizePlan.h.

◆ getProblemDefinition() [2/2]

const base::ProblemDefinitionPtr & ompl::tools::OptimizePlan::getProblemDefinition ( ) const
inline

Get the problem definition used.

Definition at line 69 of file OptimizePlan.h.

◆ solve()

ompl::base::PlannerStatus ompl::tools::OptimizePlan::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. If more than maxSol solutions are generated, stop generating more.

Definition at line 58 of file OptimizePlan.cpp.

Member Data Documentation

◆ planners_

std::vector<base::PlannerPtr> ompl::tools::OptimizePlan::planners_
protected

The set of planners to be used.

Definition at line 90 of file OptimizePlan.h.

◆ pp_

ParallelPlan ompl::tools::OptimizePlan::pp_
protected

Instance of parallel planning to use for computing solutions in parallel.

Definition at line 87 of file OptimizePlan.h.


The documentation for this class was generated from the following files: