ompl/geometric/planners/AnytimePathShortening.h
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00034 
00035 /* Author: Ryan Luna */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_ANYTIMEOPTIMIZATION_ANYTIMEPATHSHORTENING_
00038 #define OMPL_GEOMETRIC_PLANNERS_ANYTIMEOPTIMIZATION_ANYTIMEPATHSHORTENING_
00039 
00040 #include "ompl/base/Planner.h"
00041 #include <vector>
00042 
00043 namespace ompl
00044 {
00045     namespace geometric
00046     {
00065         class AnytimePathShortening : public base::Planner
00066         {
00067         public:
00069             AnytimePathShortening(const base::SpaceInformationPtr &si);
00070 
00072             virtual ~AnytimePathShortening(void);
00073 
00076             void addPlanner(base::PlannerPtr &planner);
00077 
00082             virtual void setProblemDefinition(const base::ProblemDefinitionPtr &pdef);
00083 
00090             virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
00091 
00095             virtual void clear(void);
00096 
00100             virtual void getPlannerData(base::PlannerData &data) const;
00101 
00103             virtual void getPlannerData(ompl::base::PlannerData &data, unsigned int idx) const;
00104 
00108             virtual void setup(void);
00109 
00114             virtual void checkValidity(void);
00115 
00117             unsigned int getNumPlanners(void) const;
00118 
00120             base::PlannerPtr getPlanner(unsigned int i) const;
00121 
00123             bool isShortcutting(void) const;
00124 
00126             void setShortcut(bool shortcut);
00127 
00129             bool isHybridizing(void) const;
00130 
00132             void setHybridize(bool hybridize);
00133 
00135             unsigned int maxHybridizationPaths(void) const;
00136 
00138             void setMaxHybridizationPath(unsigned int maxPathCount);
00139 
00141             void setDefaultNumPlanners(unsigned int numPlanners);
00142 
00144             unsigned int getDefaultNumPlanners() const;
00145 
00147             std::string getBestCost() const;
00148 
00149         protected:
00152             virtual void threadSolve(base::Planner *planner, const base::PlannerTerminationCondition &ptc);
00153 
00155             std::vector<base::PlannerPtr> planners_;
00156 
00158             bool shortcut_;
00159 
00161             bool hybridize_;
00162 
00165             unsigned int maxHybridPaths_;
00166 
00169             unsigned int defaultNumPlanners_;
00170         };
00171     }
00172 }
00173 #endif
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