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ParallelPlan.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_TOOLS_MULTIPLAN_PARALLEL_PLAN_
38 #define OMPL_TOOLS_MULTIPLAN_PARALLEL_PLAN_
39 
40 #include "ompl/base/Planner.h"
41 #include "ompl/geometric/PathGeometric.h"
42 #include <boost/thread.hpp>
43 
44 namespace ompl
45 {
47  namespace geometric
48  {
49  OMPL_CLASS_FORWARD(PathHybridization);
50  }
52 
53  namespace tools
54  {
55 
64  {
65  public:
66 
69 
70  virtual ~ParallelPlan(void);
71 
73  void addPlanner(const base::PlannerPtr &planner);
74 
77 
79  void clearHybridizationPaths(void);
80 
82  void clearPlanners(void);
83 
86  {
87  return pdef_;
88  }
89 
93  base::PlannerStatus solve(double solveTime, bool hybridize = true);
94 
98  base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc, bool hybridize = true);
99 
104  base::PlannerStatus solve(double solveTime, std::size_t minSolCount, std::size_t maxSolCount, bool hybridize = true);
105 
110  base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc, std::size_t minSolCount, std::size_t maxSolCount, bool hybridize = true);
111 
112  protected:
113 
115  void solveOne(base::Planner *planner, std::size_t minSolCount, const base::PlannerTerminationCondition *ptc);
116 
118  void solveMore(base::Planner *planner, std::size_t minSolCount, std::size_t maxSolCount, const base::PlannerTerminationCondition *ptc);
119 
122 
124  std::vector<base::PlannerPtr> planners_;
125 
128 
130  boost::mutex phlock_;
131 
132  private:
133 
135  unsigned int foundSolCount_;
136 
138  boost::mutex foundSolCountLock_;
139  };
140 
141  }
142 }
143 
144 #endif
void clearHybridizationPaths(void)
Clear the set of paths recorded for hybrididzation.
A boost shared pointer wrapper for ompl::geometric::PathHybridization.
This is a utility that allows executing multiple planners in parallel, until one or more find a solut...
Definition: ParallelPlan.h:63
void clearPlanners(void)
Clear the set of planners to be executed.
A boost shared pointer wrapper for ompl::base::ProblemDefinition.
boost::mutex phlock_
Lock for phybrid_.
Definition: ParallelPlan.h:130
void addPlannerAllocator(const base::PlannerAllocator &pa)
Add a planner allocator to use.
boost::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator
Definition of a function that can allocate a planner.
Definition: Planner.h:417
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
void solveMore(base::Planner *planner, std::size_t minSolCount, std::size_t maxSolCount, const base::PlannerTerminationCondition *ptc)
Run the planner and collect the solutions. This function is only called if hybridize_ is true...
base::ProblemDefinitionPtr pdef_
The problem definition used.
Definition: ParallelPlan.h:121
base::PlannerStatus solve(double solveTime, bool hybridize=true)
Call Planner::solve() for all planners, in parallel, each planner running for at most solveTime secon...
std::vector< base::PlannerPtr > planners_
The set of planners to be used.
Definition: ParallelPlan.h:124
geometric::PathHybridizationPtr phybrid_
The instance of the class that performs path hybridization.
Definition: ParallelPlan.h:127
A boost shared pointer wrapper for ompl::base::Planner.
ParallelPlan(const base::ProblemDefinitionPtr &pdef)
Create an instance for a specified space information.
Base class for a planner.
Definition: Planner.h:227
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
void addPlanner(const base::PlannerPtr &planner)
Add a planner to use.
void solveOne(base::Planner *planner, std::size_t minSolCount, const base::PlannerTerminationCondition *ptc)
Run the planner and call ompl::base::PlannerTerminationCondition::terminate() for the other planners ...
const base::ProblemDefinitionPtr & getProblemDefinition(void) const
Get the problem definition used.
Definition: ParallelPlan.h:85