AnytimePathShortening.h
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
bool isHybridizing() const
Return whether the anytime planner will extract a hybrid path from the set of solution paths...
Definition: AnytimePathShortening.cpp:272
A shared pointer wrapper for ompl::base::ProblemDefinition.
base::PlannerPtr getPlanner(unsigned int idx) const
Retrieve a pointer to the ith planner instance.
Definition: AnytimePathShortening.cpp:256
void setMaxHybridizationPath(unsigned int maxPathCount)
Set the maximum number of paths that will be hybridized.
Definition: AnytimePathShortening.cpp:287
~AnytimePathShortening() override
Destructor.
void clear() override
Clear all internal planning datastructures. Planner settings are not affected. Subsequent calls to so...
Definition: AnytimePathShortening.cpp:202
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:63
void getPlannerData(base::PlannerData &data) const override
Get information about the most recent run of the motion planner.
Definition: AnytimePathShortening.cpp:209
AnytimePathShortening(const base::SpaceInformationPtr &si)
Constructor requires the space information to plan in.
Definition: AnytimePathShortening.cpp:45
unsigned int getDefaultNumPlanners() const
Get default number of planners used if none are specified.
Definition: AnytimePathShortening.cpp:297
void setHybridize(bool hybridize)
Enable/disable path hybridization on the set of solution paths.
Definition: AnytimePathShortening.cpp:277
void setDefaultNumPlanners(unsigned int numPlanners)
Set default number of planners to use if none are specified.
Definition: AnytimePathShortening.cpp:292
std::string getBestCost() const
Return best cost found so far by algorithm.
Definition: AnytimePathShortening.cpp:302
unsigned int maxHybridPaths_
The maximum number of paths that will be hybridized. This prohibits hybridization of a very large pat...
Definition: AnytimePathShortening.h:167
A shared pointer wrapper for ompl::base::Planner.
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:245
bool hybridize_
Flag indicating whether to hybridize the set of solution paths.
Definition: AnytimePathShortening.h:163
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:181
void setShortcut(bool shortcut)
Enable/disable shortcutting on paths.
Definition: AnytimePathShortening.cpp:267
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A shared pointer wrapper for ompl::base::SpaceInformation.
void setup() override
Perform any necessary configuration steps. This method also invokes ompl::base::SpaceInformation::set...
Definition: AnytimePathShortening.cpp:225
unsigned int defaultNumPlanners_
The number of planners to use if none are specified. This defaults to the number of cores...
Definition: AnytimePathShortening.h:171
bool isShortcutting() const
Return whether the anytime planner will perform shortcutting on paths.
Definition: AnytimePathShortening.cpp:262
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:99
void addPlanner(base::PlannerPtr &planner)
Adds the given planner to the set of planners used to compute candidate paths.
Definition: AnytimePathShortening.cpp:70
std::vector< base::PlannerPtr > planners_
The list of planners used for solving the problem.
Definition: AnytimePathShortening.h:157
unsigned int getNumPlanners() const
Retrieve the number of planners added.
Definition: AnytimePathShortening.cpp:251
void setProblemDefinition(const base::ProblemDefinitionPtr &pdef) override
Set the problem definition for the planners. The problem needs to be set before calling solve()...
Definition: AnytimePathShortening.cpp:91
unsigned int maxHybridizationPaths() const
Return the maximum number of paths that will be hybridized.
Definition: AnytimePathShortening.cpp:282