AnytimePathShortening.h
105 static std::shared_ptr<AnytimePathShortening> createPlanner(const base::SpaceInformationPtr &si)
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
bool hybridize_
Flag indicating whether to hybridize the set of solution paths.
Definition: AnytimePathShortening.h:222
base::PlannerPtr getPlanner(unsigned int idx) const
Retrieve a pointer to the ith planner instance.
Definition: AnytimePathShortening.cpp:295
~AnytimePathShortening() override
Destructor.
unsigned int defaultNumPlanners_
The number of planners to use if none are specified. This defaults to the number of cores....
Definition: AnytimePathShortening.h:230
void clear() override
Clear all internal planning datastructures. Planner settings are not affected. Subsequent calls to so...
Definition: AnytimePathShortening.cpp:240
std::string getBestCost() const
Return best cost found so far by algorithm.
Definition: AnytimePathShortening.cpp:341
void setPlanners(const std::string &plannerList)
Set the list of planners to use.
Definition: AnytimePathShortening.cpp:346
void getPlannerData(base::PlannerData &data) const override
Get information about the most recent run of the motion planner.
Definition: AnytimePathShortening.cpp:248
unsigned int maxHybridizationPaths() const
Return the maximum number of paths that will be hybridized.
Definition: AnytimePathShortening.cpp:321
virtual void threadSolve(base::Planner *planner, const base::PlannerTerminationCondition &ptc)
The function that the planning threads execute when solving a motion planning problem.
Definition: AnytimePathShortening.cpp:216
void setDefaultNumPlanners(unsigned int numPlanners)
Set default number of planners to use if none are specified.
Definition: AnytimePathShortening.cpp:331
unsigned int maxHybridPaths_
The maximum number of paths that will be hybridized. This prohibits hybridization of a very large pat...
Definition: AnytimePathShortening.h:226
AnytimePathShortening(const base::SpaceInformationPtr &si)
Constructor requires the space information to plan in.
Definition: AnytimePathShortening.cpp:75
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Method that solves the motion planning problem. This method terminates under just two conditions,...
Definition: AnytimePathShortening.cpp:134
void printSettings(std::ostream &out) const override
Print settings of this planner as well as those of the planner instances it contains.
Definition: AnytimePathShortening.cpp:454
void setup() override
Perform any necessary configuration steps. This method also invokes ompl::base::SpaceInformation::set...
Definition: AnytimePathShortening.cpp:264
bool isShortcutting() const
Return whether the anytime planner will perform shortcutting on paths.
Definition: AnytimePathShortening.cpp:301
bool isHybridizing() const
Return whether the anytime planner will extract a hybrid path from the set of solution paths.
Definition: AnytimePathShortening.cpp:311
static std::shared_ptr< AnytimePathShortening > createPlanner(const base::SpaceInformationPtr &si)
Factory for creating a shared pointer to an AnytimePathShortening instance with planners of type Plan...
Definition: AnytimePathShortening.h:105
static std::shared_ptr< AnytimePathShortening > createPlanner(const base::SpaceInformationPtr &si, unsigned int numPlanners=std::max(1u, std::thread::hardware_concurrency()))
Factory for creating a shared pointer to an AnytimePathShortening instance with numPlanners instances...
Definition: AnytimePathShortening.h:87
void setMaxHybridizationPath(unsigned int maxPathCount)
Set the maximum number of paths that will be hybridized.
Definition: AnytimePathShortening.cpp:326
std::string getPlanners() const
Get a string representation of the planners and their parameters in the format of setPlanners.
Definition: AnytimePathShortening.cpp:428
void addPath(const geometric::PathGeometricPtr &path, base::Planner *planner)
add a path to set of solutions
Definition: AnytimePathShortening.cpp:119
unsigned int getNumPlanners() const
Retrieve the number of planners added.
Definition: AnytimePathShortening.cpp:290
void addPlanner(base::PlannerPtr &planner)
Adds the given planner to the set of planners used to compute candidate paths.
Definition: AnytimePathShortening.cpp:98
unsigned int getDefaultNumPlanners() const
Get default number of planners used if none are specified.
Definition: AnytimePathShortening.cpp:336
void setHybridize(bool hybridize)
Enable/disable path hybridization on the set of solution paths.
Definition: AnytimePathShortening.cpp:316
std::vector< base::PlannerPtr > planners_
The list of planners used for solving the problem.
Definition: AnytimePathShortening.h:216
void setShortcut(bool shortcut)
Enable/disable shortcutting on paths.
Definition: AnytimePathShortening.cpp:306
void checkValidity() override
Check to see if the planners are in a working state (setup has been called, a goal was set,...
Definition: AnytimePathShortening.cpp:284
Main namespace. Contains everything in this library.
Definition: ConstrainedSpaceInformation.h:53
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49