ompl/tools/multiplan/OptimizePlan.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_TOOLS_MULTIPLAN_OPTIMIZE_PLAN_
00038 #define OMPL_TOOLS_MULTIPLAN_OPTIMIZE_PLAN_
00039 
00040 #include "ompl/tools/multiplan/ParallelPlan.h"
00041 
00042 namespace ompl
00043 {
00044     namespace tools
00045     {
00046 
00050         class OptimizePlan
00051         {
00052         public:
00054             OptimizePlan(const base::ProblemDefinitionPtr &pdef) : pp_(pdef)
00055             {
00056             }
00057 
00058             virtual ~OptimizePlan()
00059             {
00060             }
00061 
00063             void addPlanner(const base::PlannerPtr &planner);
00064 
00066             void addPlannerAllocator(const base::PlannerAllocator &pa);
00067 
00069             void clearPlanners();
00070 
00072             const base::ProblemDefinitionPtr& getProblemDefinition() const
00073             {
00074                 return pp_.getProblemDefinition();
00075             }
00076 
00079             base::PlannerStatus solve(double solveTime, unsigned int maxSol = 10, unsigned int nthreads = 1);
00080 
00081         protected:
00082 
00084             ParallelPlan                    pp_;
00085 
00087             std::vector<base::PlannerPtr>   planners_;
00088         };
00089 
00090     }
00091 }
00092 #endif
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