30 #ifndef HPP_CORE_PATH_PLANNER_HH 31 #define HPP_CORE_PATH_PLANNER_HH 56 virtual void startSolve();
67 virtual void tryConnectInitAndGoals();
70 virtual void oneStep() = 0;
76 void maxIterations(
const unsigned long int& n);
80 void timeOut(
const double& timeOut);
82 double timeOut()
const {
return timeOut_; }
87 void stopWhenProblemIsSolved(
bool enable);
102 void init(
const PathPlannerWkPtr_t& weak);
106 const ProblemConstWkPtr_t problem_;
112 unsigned long int maxIterations_;
116 bool stopWhenProblemIsSolved_;
119 PathPlannerWkPtr_t weakPtr_;
124 #endif // HPP_CORE_PATH_PLANNER_HH shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:193
Definition: bi-rrt-planner.hh:35
Definition: path-planner.hh:45
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:197
unsigned long int maxIterations() const
Get maximal number of iterations.
Definition: path-planner.hh:78
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:199
#define HPP_CORE_DLLAPI
Definition: config.hh:88
double timeOut() const
Get time out.
Definition: path-planner.hh:82