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. More... | |
void | addPlanner (const base::PlannerPtr &planner) |
Add a planner to use. More... | |
void | addPlannerAllocator (const base::PlannerAllocator &pa) |
Add a planner allocator to use. More... | |
void | clearPlanners () |
Clear the set of planners to be executed. More... | |
const base::ProblemDefinitionPtr & | getProblemDefinition () const |
Get the problem definition used. More... | |
base::ProblemDefinitionPtr & | getProblemDefinition () |
Get the problem definition used. More... | |
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. More... | |
Protected Attributes | |
ParallelPlan | pp_ |
Instance of parallel planning to use for computing solutions in parallel. More... | |
std::vector< base::PlannerPtr > | planners_ |
The set of planners to be used. More... | |
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()
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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]
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inline |
Get the problem definition used.
Definition at line 75 of file OptimizePlan.h.
◆ getProblemDefinition() [2/2]
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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 , |
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unsigned int | nthreads = 1 |
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) |
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_
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protected |
The set of planners to be used.
Definition at line 90 of file OptimizePlan.h.
◆ pp_
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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:
- ompl/tools/multiplan/OptimizePlan.h
- ompl/tools/multiplan/src/OptimizePlan.cpp