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);
78 void timeOut(
const double& timeOut);
83 void stopWhenProblemIsSolved(
bool enable);
98 void init(
const PathPlannerWkPtr_t& weak);
102 const ProblemConstWkPtr_t problem_;
108 unsigned long int maxIterations_;
112 bool stopWhenProblemIsSolved_;
115 PathPlannerWkPtr_t weakPtr_;
120 #endif // HPP_CORE_PATH_PLANNER_HH