AnytimePathShortening.h
bool hybridize_
Flag indicating whether to hybridize the set of solution paths.
Definition: AnytimePathShortening.h:259
unsigned int maxHybridizationPaths() const
Return the maximum number of paths that will be hybridized.
Definition: AnytimePathShortening.cpp:283
void getPlannerData(base::PlannerData &data) const override
Get information about the most recent run of the motion planner.
Definition: AnytimePathShortening.cpp:210
unsigned int defaultNumPlanners_
The number of planners to use if none are specified. This defaults to the number of cores....
Definition: AnytimePathShortening.h:267
bool isShortcutting() const
Return whether the anytime planner will perform shortcutting on paths.
Definition: AnytimePathShortening.cpp:263
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:92
base::PlannerPtr getPlanner(unsigned int idx) const
Retrieve a pointer to the ith planner instance.
Definition: AnytimePathShortening.cpp:257
unsigned int getNumPlanners() const
Retrieve the number of planners added.
Definition: AnytimePathShortening.cpp:252
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:238
void setup() override
Perform any necessary configuration steps. This method also invokes ompl::base::SpaceInformation::set...
Definition: AnytimePathShortening.cpp:226
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:127
AnytimePathShortening(const base::SpaceInformationPtr &si)
Constructor requires the space information to plan in.
Definition: AnytimePathShortening.cpp:46
bool isHybridizing() const
Return whether the anytime planner will extract a hybrid path from the set of solution paths.
Definition: AnytimePathShortening.cpp:273
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:182
void setDefaultNumPlanners(unsigned int numPlanners)
Set default number of planners to use if none are specified.
Definition: AnytimePathShortening.cpp:293
void setMaxHybridizationPath(unsigned int maxPathCount)
Set the maximum number of paths that will be hybridized.
Definition: AnytimePathShortening.cpp:288
void setHybridize(bool hybridize)
Enable/disable path hybridization on the set of solution paths.
Definition: AnytimePathShortening.cpp:278
unsigned int getDefaultNumPlanners() const
Get default number of planners used if none are specified.
Definition: AnytimePathShortening.cpp:298
std::string getBestCost() const
Return best cost found so far by algorithm.
Definition: AnytimePathShortening.cpp:303
void clear() override
Clear all internal planning datastructures. Planner settings are not affected. Subsequent calls to so...
Definition: AnytimePathShortening.cpp:203
~AnytimePathShortening() override
Destructor.
void addPlanner(base::PlannerPtr &planner)
Adds the given planner to the set of planners used to compute candidate paths.
Definition: AnytimePathShortening.cpp:71
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:100
unsigned int maxHybridPaths_
The maximum number of paths that will be hybridized. This prohibits hybridization of a very large pat...
Definition: AnytimePathShortening.h:263
Main namespace. Contains everything in this library.
Definition: ConstrainedSpaceInformation.h:52
void setShortcut(bool shortcut)
Enable/disable shortcutting on paths.
Definition: AnytimePathShortening.cpp:268
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:246
std::vector< base::PlannerPtr > planners_
The list of planners used for solving the problem.
Definition: AnytimePathShortening.h:253