19 #ifndef HPP_CORE_PATH_PLANNER_HH
20 # define HPP_CORE_PATH_PLANNER_HH
41 const Problem& problem ()
const;
45 virtual void startSolve ();
59 virtual
void tryConnectInitAndGoals ();
62 virtual
void oneStep () = 0;
68 void maxIterations (const
unsigned long int& n);
70 void timeOut(const
double& timeOut);
75 void stopWhenProblemIsSolved(
bool enable);
89 void init (const PathPlannerWkPtr_t& weak);
98 unsigned long int maxIterations_;
102 bool stopWhenProblemIsSolved_;
105 PathPlannerWkPtr_t weakPtr_;
110 #endif // HPP_CORE_PATH_PLANNER_HH