30#ifndef HPP_CORE_PATH_PLANNER_HH
31#define HPP_CORE_PATH_PLANNER_HH
98 void init(
const PathPlannerWkPtr_t& weak);
102 const ProblemConstWkPtr_t problem_;
108 unsigned long int maxIterations_;
112 bool stopWhenProblemIsSolved_;
115 PathPlannerWkPtr_t weakPtr_;
Definition: path-planner.hh:45
PathPlanner(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
virtual void oneStep()=0
User implementation of one step of resolution.
void stopWhenProblemIsSolved(bool enable)
PathPlanner(const ProblemConstPtr_t &problem)
virtual PathVectorPtr_t finishSolve(const PathVectorPtr_t &path)
Post processing of the resulting path.
virtual PathVectorPtr_t solve()
void timeOut(const double &timeOut)
set time out (in seconds)
virtual void tryConnectInitAndGoals()
Try to connect initial and goal configurations to existing roadmap.
void init(const PathPlannerWkPtr_t &weak)
Store weak pointer to itself.
void maxIterations(const unsigned long int &n)
Set maximal number of iterations.
ProblemConstPtr_t problem() const
Get problem.
PathVectorPtr_t computePath() const
Find a path in the roadmap and transform it in trajectory.
virtual void startSolve()
virtual const RoadmapPtr_t & roadmap() const
Get roadmap.
void interrupt()
Interrupt path planning.
#define HPP_CORE_DLLAPI
Definition: config.hh:64
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:192
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:198
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:196
Definition: bi-rrt-planner.hh:35