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PlannerMultiLevel.cpp
43PlannerMultiLevel::PlannerMultiLevel(std::vector<ompl::base::SpaceInformationPtr> &siVec, std::string type)
48PlannerMultiLevel::PlannerMultiLevel(ompl::base::SpaceInformationPtr si) : BaseT(si, "PlannerMultiLevel")
53PlannerMultiLevel::PlannerMultiLevel(ompl::base::SpaceInformationPtr si, std::string type) : BaseT(si, type)
99const std::vector<ompl::base::ProblemDefinitionPtr> &PlannerMultiLevel::getProblemDefinitionVector() const
const ProblemDefinitionPtr & getProblemDefinition() const
Get the problem definition the planner is trying to solve.
Definition Planner.cpp:71
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition Planner.cpp:118
A shared pointer wrapper for ompl::base::ProblemDefinition.
A shared pointer wrapper for ompl::base::SpaceInformation.
std::vector< ompl::base::ProblemDefinitionPtr > pdefVec_
Sequence of ProblemDefinitionPtr.
Definition PlannerMultiLevel.h:91
std::vector< ompl::base::SpaceInformationPtr > siVec_
Each abstraction level has a unique ompl::base::SpaceInformationPtr.
Definition PlannerMultiLevel.h:94
virtual void clear() override
Clear multilevel planner by clearing all levels.
Definition PlannerMultiLevel.cpp:62
std::vector< int > getDimensionsPerLevel() const
Get dimensionality of the multilevel abstraction.
Definition PlannerMultiLevel.cpp:73
PlannerMultiLevel(std::vector< ompl::base::SpaceInformationPtr > &siVec, std::string type="PlannerMultiLevel")
Constructor for a set of ompl::base::SpaceInformationPtr which represent different abstraction levels...
Definition PlannerMultiLevel.cpp:43
ompl::base::ProblemDefinitionPtr & getProblemDefinitionNonConst(int level)
Get ompl::base::ProblemDefinitionPtr for a specific level (non const)
Definition PlannerMultiLevel.cpp:89
const std::vector< ompl::base::ProblemDefinitionPtr > & getProblemDefinitionVector() const
Get all ompl::base::ProblemDefinitionPtr for all levels in the hierarchy.
Definition PlannerMultiLevel.cpp:99
std::vector< ompl::base::PathPtr > solutions_
Solution paths on each abstraction level.
Definition PlannerMultiLevel.h:88
This namespace contains datastructures and planners to exploit multilevel abstractions,...
Definition MultiLevelPlanarManipulatorDemo.cpp:68