19 #ifndef HPP_CORE_PATH_PLANNER_HH
20 # define HPP_CORE_PATH_PLANNER_HH
45 virtual void startSolve ();
56 virtual void tryConnectInitAndGoals ();
59 virtual void oneStep () = 0;
65 void maxIterations (
const unsigned long int& n);
67 void timeOut(
const double& timeOut);
72 void stopWhenProblemIsSolved(
bool enable);
87 void init (
const PathPlannerWkPtr_t& weak);
90 const ProblemConstWkPtr_t problem_;
96 unsigned long int maxIterations_;
100 bool stopWhenProblemIsSolved_;
103 PathPlannerWkPtr_t weakPtr_;
108 #endif // HPP_CORE_PATH_PLANNER_HH