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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  ClassForward(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