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>

List of all members.

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::ProblemDefinitionPtrgetProblemDefinition () const
 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::PlannerPtrplanners_
 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 50 of file OptimizePlan.h.


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