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PlannerMultiLevel.h
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36
37/* Author: Andreas Orthey */
38
39#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PLANNERMULTILEVEL_
40#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PLANNERMULTILEVEL_
41#include <ompl/base/Planner.h>
42
43namespace ompl
44{
45 namespace multilevel
46 {
52 {
54
55 public:
58 PlannerMultiLevel(std::vector<ompl::base::SpaceInformationPtr> &siVec,
59 std::string type = "PlannerMultiLevel");
60
62
64
65 virtual ~PlannerMultiLevel();
66
69
72
75 const std::vector<ompl::base::ProblemDefinitionPtr> &getProblemDefinitionVector() const;
76
78 virtual void clear() override;
79
81 int getLevels() const;
82
84 std::vector<int> getDimensionsPerLevel() const;
85
86 protected:
88 std::vector<ompl::base::PathPtr> solutions_;
89
91 std::vector<ompl::base::ProblemDefinitionPtr> pdefVec_;
92
94 std::vector<ompl::base::SpaceInformationPtr> siVec_;
95 };
96 } // namespace multilevel
97} // namespace ompl
98#endif
Base class for a planner.
Definition Planner.h:216
const ProblemDefinitionPtr & getProblemDefinition() const
Get the problem definition the planner is trying to solve.
Definition Planner.cpp:71
A shared pointer wrapper for ompl::base::ProblemDefinition.
A shared pointer wrapper for ompl::base::SpaceInformation.
MultiLevel Planner Interface. Extends base::Planner by allowing sequences of base::SpaceInformationPt...
int getLevels() const
Number of multilevel abstractions.
std::vector< ompl::base::ProblemDefinitionPtr > pdefVec_
Sequence of ProblemDefinitionPtr.
std::vector< ompl::base::SpaceInformationPtr > siVec_
Each abstraction level has a unique ompl::base::SpaceInformationPtr.
virtual void clear() override
Clear multilevel planner by clearing all levels.
std::vector< int > getDimensionsPerLevel() const
Get dimensionality of the multilevel abstraction.
PlannerMultiLevel(std::vector< ompl::base::SpaceInformationPtr > &siVec, std::string type="PlannerMultiLevel")
Constructor for a set of ompl::base::SpaceInformationPtr which represent different abstraction levels...
ompl::base::ProblemDefinitionPtr & getProblemDefinitionNonConst(int level)
Get ompl::base::ProblemDefinitionPtr for a specific level (non const)
const std::vector< ompl::base::ProblemDefinitionPtr > & getProblemDefinitionVector() const
Get all ompl::base::ProblemDefinitionPtr for all levels in the hierarchy.
std::vector< ompl::base::PathPtr > solutions_
Solution paths on each abstraction level.
Main namespace. Contains everything in this library.