37 #ifndef OMPL_TOOLS_MULTIPLAN_PARALLEL_PLAN_
38 #define OMPL_TOOLS_MULTIPLAN_PARALLEL_PLAN_
40 #include "ompl/base/Planner.h"
41 #include "ompl/geometric/PathGeometric.h"
42 #include <boost/thread.hpp>
49 OMPL_CLASS_FORWARD(PathHybridization);
104 base::PlannerStatus solve(
double solveTime, std::size_t minSolCount, std::size_t maxSolCount,
bool hybridize =
true);
135 unsigned int foundSolCount_;
138 boost::mutex foundSolCountLock_;
A boost shared pointer wrapper for ompl::geometric::PathHybridization.
A boost shared pointer wrapper for ompl::base::ProblemDefinition.
boost::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator
Definition of a function that can allocate a planner.
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
A boost shared pointer wrapper for ompl::base::Planner.
Base class for a planner.
A class to store the exit status of Planner::solve()