ompl/tools/multiplan/ParallelPlan.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_TOOLS_MULTIPLAN_PARALLEL_PLAN_
00038 #define OMPL_TOOLS_MULTIPLAN_PARALLEL_PLAN_
00039 
00040 #include "ompl/base/Planner.h"
00041 #include "ompl/geometric/PathGeometric.h"
00042 #include <boost/thread.hpp>
00043 
00044 namespace ompl
00045 {
00047     namespace geometric
00048     {
00049         OMPL_CLASS_FORWARD(PathHybridization);
00050     }
00052 
00053     namespace tools
00054     {
00056         OMPL_CLASS_FORWARD(ParallelPlan);
00058 
00066         class ParallelPlan
00067         {
00068         public:
00069 
00071             ParallelPlan(const base::ProblemDefinitionPtr &pdef);
00072 
00073             virtual ~ParallelPlan();
00074 
00076             void addPlanner(const base::PlannerPtr &planner);
00077 
00079             void addPlannerAllocator(const base::PlannerAllocator &pa);
00080 
00082             void clearHybridizationPaths();
00083 
00085             void clearPlanners();
00086 
00088             const base::ProblemDefinitionPtr& getProblemDefinition() const
00089             {
00090                 return pdef_;
00091             }
00092 
00096             base::PlannerStatus solve(double solveTime, bool hybridize = true);
00097 
00101             base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc, bool hybridize = true);
00102 
00107             base::PlannerStatus solve(double solveTime, std::size_t minSolCount, std::size_t maxSolCount, bool hybridize = true);
00108 
00113             base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc, std::size_t minSolCount, std::size_t maxSolCount, bool hybridize = true);
00114 
00115         protected:
00116 
00118             void solveOne(base::Planner *planner, std::size_t minSolCount, const base::PlannerTerminationCondition *ptc);
00119 
00121             void solveMore(base::Planner *planner, std::size_t minSolCount, std::size_t maxSolCount, const base::PlannerTerminationCondition *ptc);
00122 
00124             base::ProblemDefinitionPtr      pdef_;
00125 
00127             std::vector<base::PlannerPtr>   planners_;
00128 
00130             geometric::PathHybridizationPtr phybrid_;
00131 
00133             boost::mutex                    phlock_;
00134 
00135         private:
00136 
00138             unsigned int                    foundSolCount_;
00139 
00141             boost::mutex                    foundSolCountLock_;
00142         };
00143 
00144     }
00145 }
00146 
00147 #endif
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