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<div class="title">AnytimePathShortening.cpp</div> </div>
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<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* Copyright (c) 2014, Rice University</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">* modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">*</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">* * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">* notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">* * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">* copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">* disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">* with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">* * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">* contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">* from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">*</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">*********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Author: Ryan Luna */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include <algorithm></span> <span class="comment">// for std::min</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include <boost/algorithm/string.hpp></span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include "ompl/geometric/planners/AnytimePathShortening.h"</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include "ompl/geometric/planners/fmt/BFMT.h"</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include "ompl/geometric/planners/est/BiEST.h"</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include "ompl/geometric/planners/rrt/BiTRRT.h"</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include "ompl/geometric/planners/informedtrees/BITstar.h"</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include "ompl/geometric/planners/kpiece/BKPIECE1.h"</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#include "ompl/geometric/planners/est/EST.h"</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="preprocessor">#include "ompl/geometric/planners/fmt/FMT.h"</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="preprocessor">#include "ompl/geometric/planners/kpiece/KPIECE1.h"</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="preprocessor">#include "ompl/geometric/planners/rrt/LazyLBTRRT.h"</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="preprocessor">#include "ompl/geometric/planners/prm/LazyPRM.h"</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="preprocessor">#include "ompl/geometric/planners/prm/LazyPRMstar.h"</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="preprocessor">#include "ompl/geometric/planners/rrt/LazyRRT.h"</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="preprocessor">#include "ompl/geometric/planners/kpiece/LBKPIECE1.h"</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="preprocessor">#include "ompl/geometric/planners/rrt/LBTRRT.h"</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="preprocessor">#include "ompl/geometric/planners/pdst/PDST.h"</span></div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="preprocessor">#include "ompl/geometric/planners/prm/PRM.h"</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="preprocessor">#include "ompl/geometric/planners/prm/PRMstar.h"</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="preprocessor">#include "ompl/geometric/planners/est/ProjEST.h"</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="preprocessor">#include "ompl/geometric/planners/rrt/RRT.h"</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="preprocessor">#include "ompl/geometric/planners/rrt/RRTConnect.h"</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="preprocessor">#include "ompl/geometric/planners/rrt/RRTstar.h"</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="preprocessor">#include "ompl/geometric/planners/rrt/RRTXstatic.h"</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="preprocessor">#include "ompl/geometric/planners/sbl/SBL.h"</span></div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="preprocessor">#include "ompl/geometric/planners/prm/SPARS.h"</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="preprocessor">#include "ompl/geometric/planners/prm/SPARStwo.h"</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="preprocessor">#include "ompl/geometric/planners/sst/SST.h"</span></div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="preprocessor">#include "ompl/geometric/planners/stride/STRIDE.h"</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="preprocessor">#include "ompl/geometric/planners/rrt/TRRT.h"</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="preprocessor">#include "ompl/geometric/PathHybridization.h"</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="preprocessor">#include "ompl/geometric/PathSimplifier.h"</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="preprocessor">#include "ompl/tools/config/SelfConfig.h"</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="preprocessor">#include "ompl/base/objectives/PathLengthOptimizationObjective.h"</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="preprocessor">#include "ompl/util/String.h"</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a68d82f4cd29e154fab61a4d60c68669b"> 75</a></span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a68d82f4cd29e154fab61a4d60c68669b">ompl::geometric::AnytimePathShortening::AnytimePathShortening</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html">ompl::base::SpaceInformationPtr</a> &si)</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  : <a class="code" href="namespaceompl.html">ompl</a>::base::Planner(si, <span class="stringliteral">"APS"</span>), defaultNumPlanners_(std::max(1u, std::thread::hardware_concurrency()))</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> {</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365">specs_</a>.<a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#ae2facc9260851b161577e36f5a4baefc">approximateSolutions</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365">specs_</a>.<a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#a7ef07a003ebc248097f479168d75a1e3">multithreaded</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365">specs_</a>.<a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#a83869b1cd49a91e29b0b926188402a0a">optimizingPaths</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  Planner::declareParam<bool>(<span class="stringliteral">"shortcut"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#af957ba758b25d64de347306a45598142">AnytimePathShortening::setShortcut</a>,</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  &<a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a7e5ab0a295da05e09bb99714d31c5442">AnytimePathShortening::isShortcutting</a>, <span class="stringliteral">"0,1"</span>);</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  Planner::declareParam<bool>(<span class="stringliteral">"hybridize"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#adff084b1cf5ea5c2eda5a7cc5430b14a">AnytimePathShortening::setHybridize</a>,</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  &<a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a87f613b7a320e847bb1b496e1fc331ea">AnytimePathShortening::isHybridizing</a>, <span class="stringliteral">"0,1"</span>);</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  Planner::declareParam<unsigned int>(<span class="stringliteral">"max_hybrid_paths"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ab2610ddcdd47e0bfb8d358e84a0dc5cf">AnytimePathShortening::setMaxHybridizationPath</a>,</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  &<a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a43b013f8dc14e39905f1e4f6962cd4cc">AnytimePathShortening::maxHybridizationPaths</a>, <span class="stringliteral">"0:1:50"</span>);</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  Planner::declareParam<unsigned int>(<span class="stringliteral">"num_planners"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a4bf18a0fe0790f98df29efad2a57d063">AnytimePathShortening::setDefaultNumPlanners</a>,</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  &<a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ad489dbf23137f43c45bf9c5cc78ee314">AnytimePathShortening::getDefaultNumPlanners</a>, <span class="stringliteral">"0:64"</span>);</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  Planner::declareParam<std::string>(<span class="stringliteral">"planners"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a361e25a2f860b9c4d6bde7f0c305d643">AnytimePathShortening::setPlanners</a>,</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  &<a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ab5ee2ea8174e004fd56c257278b97b22">AnytimePathShortening::getPlanners</a>);</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#a3dc481539fac465497ad158e1bdac91a">addPlannerProgressProperty</a>(<span class="stringliteral">"best cost REAL"</span>, [<span class="keyword">this</span>] { <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a3266fdd4d26199a27505e24848681809">getBestCost</a>(); });</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> }</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  </div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a1c232188759e88c19e9753f4f9f2cb07">ompl::geometric::AnytimePathShortening::~AnytimePathShortening</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  </div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ad1237257ad575b30aa4957149b446c4b"> 98</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ad1237257ad575b30aa4957149b446c4b">ompl::geometric::AnytimePathShortening::addPlanner</a>(base::PlannerPtr &planner)</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> {</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordflow">if</span> (planner && planner->getSpaceInformation().get() != si_.get())</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  {</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"NOT adding planner %s: SpaceInformation instances are different"</span>, planner->getName().c_str());</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  }</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  </div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="comment">// Ensure all planners are unique instances</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &i : planners_)</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  {</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordflow">if</span> (planner.get() == i.get())</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  {</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"NOT adding planner %s: Planner instances MUST be unique"</span>, planner->getName().c_str());</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  }</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  }</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  </div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  planners_.push_back(planner);</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> }</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  </div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ab844f79b1c425c8d76e03ea5ae6eca66"> 119</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ab844f79b1c425c8d76e03ea5ae6eca66">ompl::geometric::AnytimePathShortening::addPath</a>(<span class="keyword">const</span> geometric::PathGeometricPtr &path, <a class="code" href="classompl_1_1base_1_1Planner.html">base::Planner</a> *planner)</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> {</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keyword">const</span> base::OptimizationObjectivePtr &opt(pdef_->getOptimizationObjective());</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> pathCost = path->cost(opt);</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  std::lock_guard<std::mutex> _(lock_);</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keywordflow">if</span> (opt->isCostBetterThan(pathCost, bestCost_))</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  {</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  bestCost_ = pathCost;</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  pdef_->addSolutionPath(path, <span class="keyword">false</span>, 0.0, planner->getName());</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  }</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (planner != <span class="keyword">this</span>)</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  pdef_->addSolutionPath(path, <span class="keyword">false</span>, 0.0, planner->getName());</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> }</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  </div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> <a class="code" href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a></div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a7169c82efe82474a07b984a0cd2d06fc"> 134</a></span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a7169c82efe82474a07b984a0cd2d06fc">ompl::geometric::AnytimePathShortening::solve</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a> &ptc)</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> {</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  std::vector<std::thread> threads;</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <a class="code" href="classompl_1_1geometric_1_1PathHybridization.html">geometric::PathHybridization</a> phybrid(si_);</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  </div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  base::OptimizationObjectivePtr opt = pdef_->getOptimizationObjective();</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keywordflow">if</span> (!opt)</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  {</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: No optimization objective specified. Defaulting to optimizing path length for the allowed "</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="stringliteral">"planning time."</span>,</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  getName().c_str());</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  opt = std::make_shared<base::PathLengthOptimizationObjective>(si_);</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  pdef_->setOptimizationObjective(opt);</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  }</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  </div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="comment">// Disable output from the motion planners, except for errors</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <a class="code" href="namespaceompl_1_1msg.html#ace832246a7b4bc5a50dde93a7e29a6b9">msg::LogLevel</a> currentLogLevel = <a class="code" href="namespaceompl_1_1msg.html#ad43f0d2a008f25720e8111395c5ff314">msg::getLogLevel</a>();</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <a class="code" href="namespaceompl_1_1msg.html#a1c18c4617e713817e0e4fe7dc5c5c864">msg::setLogLevel</a>(std::max(msg::LOG_ERROR, currentLogLevel));</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  </div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="comment">// Clear any previous planning data for the set of planners</span></div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  clear();</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="comment">// Spawn a thread for each planner. This will shortcut the best path after solving.</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &planner : planners_)</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  threads.emplace_back([<span class="keyword">this</span>, planner, &ptc] { <span class="keywordflow">return</span> threadSolve(planner.get(), ptc); });</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  </div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <a class="code" href="classompl_1_1geometric_1_1PathSimplifier.html">geometric::PathSimplifier</a> ps(si_);</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html">geometric::PathGeometric</a> *sln = <span class="keyword">nullptr</span>, *prevLastPath = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  bestCost_ = opt->infiniteCost();</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  std::size_t prevSolCount = 0;</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keywordflow">while</span> (!ptc)</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  {</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="comment">// We have found a solution that is good enough</span></div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="keywordflow">if</span> (opt->isSatisfied(bestCost_))</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  {</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  ptc.<a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html#a85fb9853ac33bf2ddce3f0d35efe9aa1">terminate</a>();</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  }</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  </div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="comment">// Hybridize the set of paths computed. Add the new hybrid path to the mix.</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> solCount = pdef_->getSolutionCount();</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordflow">if</span> (hybridize_ && !ptc && solCount > 1)</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  {</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keyword">const</span> std::vector<base::PlannerSolution> &paths = pdef_->getSolutions();</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  std::size_t numPaths = std::min(solCount, maxHybridPaths_);</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html">geometric::PathGeometric</a> *lastPath = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html">PathGeometric</a> *<span class="keyword">></span>(paths[numPaths - 1].path_.get());</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <span class="comment">// check if new solution paths have been added to top numPaths paths</span></div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keywordflow">if</span> (lastPath != prevLastPath || (prevSolCount < solCount && solCount <= maxHybridPaths_))</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  {</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j < numPaths && !ptc; ++j)</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  phybrid.<a class="code" href="classompl_1_1geometric_1_1PathHybridization.html#af1915b0bf2371adbe6816a1d78c41efd">recordPath</a>(std::static_pointer_cast<PathGeometric>(paths[j].path_), <span class="keyword">false</span>);</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  </div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  phybrid.<a class="code" href="classompl_1_1geometric_1_1PathHybridization.html#a79c48a4d834b1dca0c688f7cb737e5f1">computeHybridPath</a>();</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  sln = phybrid.<a class="code" href="classompl_1_1geometric_1_1PathHybridization.html#a66eee6c476994a6a6f69906ab81ecc84">getHybridPath</a>().get();</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  prevLastPath = lastPath;</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  }</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  sln = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html">PathGeometric</a> *<span class="keyword">></span>(pdef_->getSolutionPath().get());</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  prevSolCount = solCount;</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  }</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (solCount > 0)</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  sln = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html">PathGeometric</a> *<span class="keyword">></span>(pdef_->getSolutionPath().get());</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  </div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="keywordflow">if</span> (sln)</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  {</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="keyword">auto</span> pathCopy(std::make_shared<geometric::PathGeometric>(*sln));</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <span class="keywordflow">if</span> (shortcut_) <span class="comment">// Shortcut the path</span></div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="keywordflow">if</span> (!ps.<a class="code" href="classompl_1_1geometric_1_1PathSimplifier.html#a5e590d766299b22363cfb1831a274e40">simplify</a>(*pathCopy, ptc, <span class="keyword">true</span>))</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="comment">// revert if shortcutting failed</span></div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  pathCopy = std::make_shared<geometric::PathGeometric>(*sln);</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  addPath(pathCopy, <span class="keyword">this</span>);</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  }</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keywordflow">if</span> (hybridize_ && phybrid.<a class="code" href="classompl_1_1geometric_1_1PathHybridization.html#af8d9d65f6d1af713f318ce3d717ea5ae">pathCount</a>() >= maxHybridPaths_)</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  phybrid.<a class="code" href="classompl_1_1geometric_1_1PathHybridization.html#a74c4015d5af2479d1e6ab03117b0bb08">clear</a>();</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  }</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  </div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &thread : threads)</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  thread.join();</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  </div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <a class="code" href="namespaceompl_1_1msg.html#a1c18c4617e713817e0e4fe7dc5c5c864">msg::setLogLevel</a>(currentLogLevel);</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="keywordflow">return</span> pdef_->getSolutionCount() > 0 ? <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28">base::PlannerStatus::EXACT_SOLUTION</a> : <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a69ef0526165cef29fd59ed5b08b03fc0">base::PlannerStatus::UNKNOWN</a>;</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> }</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  </div>
<div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a45bd5e4eb3b3504054dd3fb7d828ebf1"> 216</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a45bd5e4eb3b3504054dd3fb7d828ebf1">ompl::geometric::AnytimePathShortening::threadSolve</a>(<a class="code" href="classompl_1_1base_1_1Planner.html">base::Planner</a> *planner,</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc)</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> {</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="comment">// create a local clone of the problem definition where we keep at most one solution</span></div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keyword">auto</span> pdef = pdef_->clone();</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <a class="code" href="classompl_1_1geometric_1_1PathSimplifier.html">geometric::PathSimplifier</a> ps(si_);</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  </div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  planner->setProblemDefinition(pdef);</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keywordflow">while</span> (!ptc)</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  {</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="keywordflow">if</span> (planner->solve(ptc) == <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28">base::PlannerStatus::EXACT_SOLUTION</a>)</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  {</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html">geometric::PathGeometric</a> *sln = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html">geometric::PathGeometric</a> *<span class="keyword">></span>(pdef->getSolutionPath().get());</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keyword">auto</span> pathCopy(std::make_shared<geometric::PathGeometric>(*sln));</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keywordflow">if</span> (shortcut_) <span class="comment">// Shortcut the path</span></div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  ps.<a class="code" href="classompl_1_1geometric_1_1PathSimplifier.html#a911bdadf0c84acdae69d003b99f8d48e">shortcutPath</a>(*pathCopy);</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  addPath(pathCopy, planner);</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  }</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  </div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  planner->clear();</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  pdef->clearSolutionPaths();</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  }</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span> }</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  </div>
<div class="line"><a name="l00240"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a23d99807a19e8dedc3fd2d0b90c77e41"> 240</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a23d99807a19e8dedc3fd2d0b90c77e41">ompl::geometric::AnytimePathShortening::clear</a>()</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span> {</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  Planner::clear();</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &planner : planners_)</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  planner->clear();</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  bestCost_ = <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a>(std::numeric_limits<double>::quiet_NaN());</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span> }</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  </div>
<div class="line"><a name="l00248"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a39e2916ab1910aa896e94fd555cdb88a"> 248</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a39e2916ab1910aa896e94fd555cdb88a">ompl::geometric::AnytimePathShortening::getPlannerData</a>(<a class="code" href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a> &data)<span class="keyword"> const</span></div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <span class="keywordflow">if</span> (planners_.empty())</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  </div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <a class="code" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"Returning planner data for planner #0"</span>);</div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  getPlannerData(data, 0);</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span> }</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  </div>
<div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ad5d2837241ac0c7dd03a63449c92a0a0"> 257</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a39e2916ab1910aa896e94fd555cdb88a">ompl::geometric::AnytimePathShortening::getPlannerData</a>(<a class="code" href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a> &data, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx)<span class="keyword"> const</span></div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <span class="keywordflow">if</span> (planners_.size() < idx)</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  planners_[idx]->getPlannerData(data);</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span> }</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  </div>
<div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a7da328b1795277ecfc9dae69633dd730"> 264</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a7da328b1795277ecfc9dae69633dd730">ompl::geometric::AnytimePathShortening::setup</a>()</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span> {</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  Planner::setup();</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  </div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="keywordflow">if</span> (planners_.empty())</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  {</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  planners_.reserve(defaultNumPlanners_);</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < defaultNumPlanners_; ++i)</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  {</div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  planners_.push_back(<a class="code" href="classompl_1_1tools_1_1SelfConfig.html#ae9f747585a0c3fdc50667d9f8a39095d">tools::SelfConfig::getDefaultPlanner</a>(pdef_->getGoal()));</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  planners_.back()->setProblemDefinition(pdef_);</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  }</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: No planners specified; using %u instances of %s"</span>, getName().c_str(), planners_.size(),</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  planners_[0]->getName().c_str());</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  }</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  </div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &planner : planners_)</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  planner->setup();</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span> }</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  </div>
<div class="line"><a name="l00284"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#afbb688b85f2bea79c9f45669118b5565"> 284</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#afbb688b85f2bea79c9f45669118b5565">ompl::geometric::AnytimePathShortening::checkValidity</a>()</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span> {</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &planner : planners_)</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  planner->checkValidity();</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span> }</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  </div>
<div class="line"><a name="l00290"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#abf85a0df90e37a4dd7a74fb33ac15120"> 290</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#abf85a0df90e37a4dd7a74fb33ac15120">ompl::geometric::AnytimePathShortening::getNumPlanners</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <span class="keywordflow">return</span> planners_.size();</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span> }</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  </div>
<div class="line"><a name="l00295"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a0c81bef29928591c2ff517414351dfd1"> 295</a></span> <a class="code" href="classompl_1_1base_1_1PlannerPtr.html">ompl::base::PlannerPtr</a> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a0c81bef29928591c2ff517414351dfd1">ompl::geometric::AnytimePathShortening::getPlanner</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx)<span class="keyword"> const</span></div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  assert(idx < planners_.size());</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="keywordflow">return</span> planners_[idx];</div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span> }</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  </div>
<div class="line"><a name="l00301"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a7e5ab0a295da05e09bb99714d31c5442"> 301</a></span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a7e5ab0a295da05e09bb99714d31c5442">ompl::geometric::AnytimePathShortening::isShortcutting</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  <span class="keywordflow">return</span> shortcut_;</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span> }</div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  </div>
<div class="line"><a name="l00306"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#af957ba758b25d64de347306a45598142"> 306</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#af957ba758b25d64de347306a45598142">ompl::geometric::AnytimePathShortening::setShortcut</a>(<span class="keywordtype">bool</span> shortcut)</div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span> {</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  shortcut_ = shortcut;</div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span> }</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  </div>
<div class="line"><a name="l00311"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a87f613b7a320e847bb1b496e1fc331ea"> 311</a></span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a87f613b7a320e847bb1b496e1fc331ea">ompl::geometric::AnytimePathShortening::isHybridizing</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="keywordflow">return</span> hybridize_;</div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span> }</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  </div>
<div class="line"><a name="l00316"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#adff084b1cf5ea5c2eda5a7cc5430b14a"> 316</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#adff084b1cf5ea5c2eda5a7cc5430b14a">ompl::geometric::AnytimePathShortening::setHybridize</a>(<span class="keywordtype">bool</span> hybridize)</div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span> {</div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  hybridize_ = hybridize;</div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span> }</div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  </div>
<div class="line"><a name="l00321"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a43b013f8dc14e39905f1e4f6962cd4cc"> 321</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a43b013f8dc14e39905f1e4f6962cd4cc">ompl::geometric::AnytimePathShortening::maxHybridizationPaths</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  <span class="keywordflow">return</span> maxHybridPaths_;</div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span> }</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  </div>
<div class="line"><a name="l00326"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ab2610ddcdd47e0bfb8d358e84a0dc5cf"> 326</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ab2610ddcdd47e0bfb8d358e84a0dc5cf">ompl::geometric::AnytimePathShortening::setMaxHybridizationPath</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxPathCount)</div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span> {</div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  maxHybridPaths_ = maxPathCount;</div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span> }</div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  </div>
<div class="line"><a name="l00331"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a4bf18a0fe0790f98df29efad2a57d063"> 331</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a4bf18a0fe0790f98df29efad2a57d063">ompl::geometric::AnytimePathShortening::setDefaultNumPlanners</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numPlanners)</div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span> {</div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  defaultNumPlanners_ = numPlanners;</div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span> }</div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  </div>
<div class="line"><a name="l00336"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ad489dbf23137f43c45bf9c5cc78ee314"> 336</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ad489dbf23137f43c45bf9c5cc78ee314">ompl::geometric::AnytimePathShortening::getDefaultNumPlanners</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  <span class="keywordflow">return</span> defaultNumPlanners_;</div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span> }</div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  </div>
<div class="line"><a name="l00341"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a3266fdd4d26199a27505e24848681809"> 341</a></span> std::string <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a3266fdd4d26199a27505e24848681809">ompl::geometric::AnytimePathShortening::getBestCost</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  <span class="keywordflow">return</span> <a class="code" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(bestCost_.value());</div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span> }</div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  </div>
<div class="line"><a name="l00346"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a361e25a2f860b9c4d6bde7f0c305d643"> 346</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a361e25a2f860b9c4d6bde7f0c305d643">ompl::geometric::AnytimePathShortening::setPlanners</a>(<span class="keyword">const</span> std::string &plannerList)</div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span> {</div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  std::vector<std::string> plannerStrings;</div>
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  </div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  boost::split(plannerStrings, plannerList, boost::is_any_of(<span class="stringliteral">","</span>));</div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  </div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  planners_.clear();</div>
<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &plannerString : plannerStrings)</div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  {</div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  std::vector<std::string> plannerAndParams;</div>
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  boost::split(plannerAndParams, plannerString, boost::is_any_of(<span class="stringliteral">"[ ]"</span>));</div>
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  <span class="keyword">const</span> std::string &plannerName = plannerAndParams[0];</div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  </div>
<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"BFMT"</span>)</div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  planners_.push_back(std::make_shared<geometric::BFMT>(si_));</div>
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"BiEST"</span>)</div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  planners_.push_back(std::make_shared<geometric::BiEST>(si_));</div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"BiTRRT"</span>)</div>
<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  planners_.push_back(std::make_shared<geometric::BiTRRT>(si_));</div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"BITstar"</span>)</div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  planners_.push_back(std::make_shared<geometric::BITstar>(si_));</div>
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"BKPIECE"</span>)</div>
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  planners_.push_back(std::make_shared<geometric::BKPIECE1>(si_));</div>
<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"EST"</span>)</div>
<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  planners_.push_back(std::make_shared<geometric::EST>(si_));</div>
<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"FMT"</span>)</div>
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  planners_.push_back(std::make_shared<geometric::FMT>(si_));</div>
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"KPIECE"</span>)</div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  planners_.push_back(std::make_shared<geometric::KPIECE1>(si_));</div>
<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"LazyLBTRRT"</span>)</div>
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  planners_.push_back(std::make_shared<geometric::LazyLBTRRT>(si_));</div>
<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"LazyPRM"</span>)</div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  planners_.push_back(std::make_shared<geometric::LazyPRM>(si_));</div>
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"LazyPRMstar"</span>)</div>
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  planners_.push_back(std::make_shared<geometric::LazyPRMstar>(si_));</div>
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"LazyRRT"</span>)</div>
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  planners_.push_back(std::make_shared<geometric::LazyRRT>(si_));</div>
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"LBKPIECE"</span>)</div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  planners_.push_back(std::make_shared<geometric::LBKPIECE1>(si_));</div>
<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"LBTRRT"</span>)</div>
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  planners_.push_back(std::make_shared<geometric::LBTRRT>(si_));</div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"PDST"</span>)</div>
<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  planners_.push_back(std::make_shared<geometric::PDST>(si_));</div>
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"PRM"</span>)</div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  planners_.push_back(std::make_shared<geometric::PRM>(si_));</div>
<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"PRMstar"</span>)</div>
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  planners_.push_back(std::make_shared<geometric::PRMstar>(si_));</div>
<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"ProjEST"</span>)</div>
<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  planners_.push_back(std::make_shared<geometric::ProjEST>(si_));</div>
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"RRT"</span>)</div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  planners_.push_back(std::make_shared<geometric::RRT>(si_));</div>
<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"RRTConnect"</span>)</div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  planners_.push_back(std::make_shared<geometric::RRTConnect>(si_));</div>
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"RRTstar"</span>)</div>
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  planners_.push_back(std::make_shared<geometric::RRTstar>(si_));</div>
<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"RRTXstatic"</span>)</div>
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  planners_.push_back(std::make_shared<geometric::RRTXstatic>(si_));</div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"SBL"</span>)</div>
<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  planners_.push_back(std::make_shared<geometric::SBL>(si_));</div>
<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"SPARS"</span>)</div>
<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  planners_.push_back(std::make_shared<geometric::SPARS>(si_));</div>
<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"SPARStwo"</span>)</div>
<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  planners_.push_back(std::make_shared<geometric::SPARStwo>(si_));</div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"SST"</span>)</div>
<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  planners_.push_back(std::make_shared<geometric::SST>(si_));</div>
<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"STRIDE"</span>)</div>
<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  planners_.push_back(std::make_shared<geometric::STRIDE>(si_));</div>
<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plannerName == <span class="stringliteral">"TRRT"</span>)</div>
<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  planners_.push_back(std::make_shared<geometric::TRRT>(si_));</div>
<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Unknown planner name: %s"</span>, plannerName.c_str());</div>
<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  </div>
<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  std::vector<std::string> paramValue;</div>
<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> it = plannerAndParams.begin() + 1; it != plannerAndParams.end(); ++it)</div>
<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  <span class="keywordflow">if</span> (!it->empty())</div>
<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  {</div>
<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  boost::split(paramValue, *it, boost::is_any_of(<span class="stringliteral">"="</span>));</div>
<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  planners_.back()->params().setParam(paramValue[0], paramValue[1]);</div>
<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  }</div>
<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  }</div>
<div class="line"><a name="l00426"></a><span class="lineno"> 426</span> }</div>
<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  </div>
<div class="line"><a name="l00428"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ab5ee2ea8174e004fd56c257278b97b22"> 428</a></span> std::string <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ab5ee2ea8174e004fd56c257278b97b22">ompl::geometric::AnytimePathShortening::getPlanners</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00429"></a><span class="lineno"> 429</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  std::stringstream ss;</div>
<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < planners_.size(); ++i)</div>
<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  {</div>
<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  <span class="keywordflow">if</span> (i > 0)</div>
<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  ss << <span class="charliteral">','</span>;</div>
<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  ss << planners_[i]->getName();</div>
<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  </div>
<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  std::map<std::string, std::string> params;</div>
<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  planners_[i]->params().getParams(params);</div>
<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  <span class="keywordflow">if</span> (params.size() > 0)</div>
<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  {</div>
<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  ss << <span class="charliteral">'['</span>;</div>
<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> it = params.begin(); it != params.end(); ++it)</div>
<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  {</div>
<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  <span class="keywordflow">if</span> (it != params.begin())</div>
<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  ss << <span class="charliteral">' '</span>;</div>
<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  ss << it->first << <span class="charliteral">'='</span> << it->second;</div>
<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  }</div>
<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  ss << <span class="charliteral">']'</span>;</div>
<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  }</div>
<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  }</div>
<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  <span class="keywordflow">return</span> ss.str();</div>
<div class="line"><a name="l00452"></a><span class="lineno"> 452</span> }</div>
<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  </div>
<div class="line"><a name="l00454"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a792c8cbfa11ffd112b335ef2bd4f9ddc"> 454</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a792c8cbfa11ffd112b335ef2bd4f9ddc">ompl::geometric::AnytimePathShortening::printSettings</a>(std::ostream &out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00455"></a><span class="lineno"> 455</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  Planner::printSettings(out);</div>
<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  out << <span class="stringliteral">"Settings for planner instances in AnytimePathShortening instance:\n"</span>;</div>
<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &planner : planners_)</div>
<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  {</div>
<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  out << <span class="stringliteral">"* "</span>;</div>
<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  planner->printSettings(out);</div>
<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  }</div>
<div class="line"><a name="l00463"></a><span class="lineno"> 463</span> }</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html">ompl::base::Planner</a></div><div class="ttdoc">Base class for a planner.</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8h_source.html#l00279">Planner.h:279</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a43b013f8dc14e39905f1e4f6962cd4cc"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a43b013f8dc14e39905f1e4f6962cd4cc">ompl::geometric::AnytimePathShortening::maxHybridizationPaths</a></div><div class="ttdeci">unsigned int maxHybridizationPaths() const</div><div class="ttdoc">Return the maximum number of paths that will be hybridized.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00321">AnytimePathShortening.cpp:321</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_ab5ee2ea8174e004fd56c257278b97b22"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#ab5ee2ea8174e004fd56c257278b97b22">ompl::geometric::AnytimePathShortening::getPlanners</a></div><div class="ttdeci">std::string getPlanners() const</div><div class="ttdoc">Get a string representation of the planners and their parameters in the format of setPlanners.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00428">AnytimePathShortening.cpp:428</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1SpaceInformationPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1SpaceInformationPtr.html">SpaceInformationPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::SpaceInformation.</div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerSpecs_html_a7ef07a003ebc248097f479168d75a1e3"><div class="ttname"><a href="structompl_1_1base_1_1PlannerSpecs.html#a7ef07a003ebc248097f479168d75a1e3">ompl::base::PlannerSpecs::multithreaded</a></div><div class="ttdeci">bool multithreaded</div><div class="ttdoc">Flag indicating whether multiple threads are used in the computation of the planner.</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8h_source.html#l00256">Planner.h:256</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1PathHybridization_html_af1915b0bf2371adbe6816a1d78c41efd"><div class="ttname"><a href="classompl_1_1geometric_1_1PathHybridization.html#af1915b0bf2371adbe6816a1d78c41efd">ompl::geometric::PathHybridization::recordPath</a></div><div class="ttdeci">unsigned int recordPath(const geometric::PathGeometricPtr &pp, bool matchAcrossGaps)</div><div class="ttdoc">Add a path to the hybridization. If matchAcrossGaps is true, more possible edge connections are evalu...</div><div class="ttdef"><b>Definition:</b> <a href="PathHybridization_8cpp_source.html#l00137">PathHybridization.cpp:137</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a39e2916ab1910aa896e94fd555cdb88a"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a39e2916ab1910aa896e94fd555cdb88a">ompl::geometric::AnytimePathShortening::getPlannerData</a></div><div class="ttdeci">void getPlannerData(base::PlannerData &data) const override</div><div class="ttdoc">Get information about the most recent run of the motion planner.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00248">AnytimePathShortening.cpp:248</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1PathHybridization_html_a74c4015d5af2479d1e6ab03117b0bb08"><div class="ttname"><a href="classompl_1_1geometric_1_1PathHybridization.html#a74c4015d5af2479d1e6ab03117b0bb08">ompl::geometric::PathHybridization::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Clear all the stored paths.</div><div class="ttdef"><b>Definition:</b> <a href="PathHybridization_8cpp_source.html#l00081">PathHybridization.cpp:81</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a7e5ab0a295da05e09bb99714d31c5442"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a7e5ab0a295da05e09bb99714d31c5442">ompl::geometric::AnytimePathShortening::isShortcutting</a></div><div class="ttdeci">bool isShortcutting() const</div><div class="ttdoc">Return whether the anytime planner will perform shortcutting on paths.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00301">AnytimePathShortening.cpp:301</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_a3dc481539fac465497ad158e1bdac91a"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#a3dc481539fac465497ad158e1bdac91a">ompl::base::Planner::addPlannerProgressProperty</a></div><div class="ttdeci">void addPlannerProgressProperty(const std::string &progressPropertyName, const PlannerProgressProperty &prop)</div><div class="ttdoc">Add a planner progress property called progressPropertyName with a property querying function prop to...</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8h_source.html#l00467">Planner.h:467</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1PathHybridization_html_af8d9d65f6d1af713f318ce3d717ea5ae"><div class="ttname"><a href="classompl_1_1geometric_1_1PathHybridization.html#af8d9d65f6d1af713f318ce3d717ea5ae">ompl::geometric::PathHybridization::pathCount</a></div><div class="ttdeci">std::size_t pathCount() const</div><div class="ttdoc">Get the number of paths that are currently considered as part of the hybridization.</div><div class="ttdef"><b>Definition:</b> <a href="PathHybridization_8cpp_source.html#l00279">PathHybridization.cpp:279</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1PathSimplifier_html"><div class="ttname"><a href="classompl_1_1geometric_1_1PathSimplifier.html">ompl::geometric::PathSimplifier</a></div><div class="ttdoc">This class contains routines that attempt to simplify geometric paths.</div><div class="ttdef"><b>Definition:</b> <a href="PathSimplifier_8h_source.html#l00129">PathSimplifier.h:129</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1PathHybridization_html_a66eee6c476994a6a6f69906ab81ecc84"><div class="ttname"><a href="classompl_1_1geometric_1_1PathHybridization.html#a66eee6c476994a6a6f69906ab81ecc84">ompl::geometric::PathHybridization::getHybridPath</a></div><div class="ttdeci">const geometric::PathGeometricPtr & getHybridPath() const</div><div class="ttdoc">Get the currently computed hybrid path. computeHybridPath() needs to have been called before.</div><div class="ttdef"><b>Definition:</b> <a href="PathHybridization_8cpp_source.html#l00132">PathHybridization.cpp:132</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Cost_html"><div class="ttname"><a href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a></div><div class="ttdoc">Definition of a cost value. Can represent the cost of a motion or the cost of a state.</div><div class="ttdef"><b>Definition:</b> <a href="Cost_8h_source.html#l00111">Cost.h:111</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1PathSimplifier_html_a5e590d766299b22363cfb1831a274e40"><div class="ttname"><a href="classompl_1_1geometric_1_1PathSimplifier.html#a5e590d766299b22363cfb1831a274e40">ompl::geometric::PathSimplifier::simplify</a></div><div class="ttdeci">bool simplify(PathGeometric &path, double maxTime, bool atLeastOnce=true)</div><div class="ttdoc">Run simplification algorithms on the path for at most maxTime seconds, and at least once if atLeastOn...</div><div class="ttdef"><b>Definition:</b> <a href="PathSimplifier_8cpp_source.html#l00672">PathSimplifier.cpp:672</a></div></div>
<div class="ttc" id="agroup__logging_html_ga04bc36d1b8c57ad7e13a8a48451a3a05"><div class="ttname"><a href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a></div><div class="ttdeci">#define OMPL_INFORM(fmt,...)</div><div class="ttdoc">Log a formatted information string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00068">Console.h:68</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a0c81bef29928591c2ff517414351dfd1"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a0c81bef29928591c2ff517414351dfd1">ompl::geometric::AnytimePathShortening::getPlanner</a></div><div class="ttdeci">base::PlannerPtr getPlanner(unsigned int idx) const</div><div class="ttdoc">Retrieve a pointer to the ith planner instance.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00295">AnytimePathShortening.cpp:295</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_abf85a0df90e37a4dd7a74fb33ac15120"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#abf85a0df90e37a4dd7a74fb33ac15120">ompl::geometric::AnytimePathShortening::getNumPlanners</a></div><div class="ttdeci">unsigned int getNumPlanners() const</div><div class="ttdoc">Retrieve the number of planners added.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00290">AnytimePathShortening.cpp:290</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1PathGeometric_html"><div class="ttname"><a href="classompl_1_1geometric_1_1PathGeometric.html">ompl::geometric::PathGeometric</a></div><div class="ttdoc">Definition of a geometric path.</div><div class="ttdef"><b>Definition:</b> <a href="PathGeometric_8h_source.html#l00097">PathGeometric.h:97</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerPtr.html">PlannerPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::Planner.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a></div><div class="ttdoc">Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...</div><div class="ttdef"><b>Definition:</b> <a href="base_2PlannerData_8h_source.html#l00238">PlannerData.h:238</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a7da328b1795277ecfc9dae69633dd730"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a7da328b1795277ecfc9dae69633dd730">ompl::geometric::AnytimePathShortening::setup</a></div><div class="ttdeci">void setup() override</div><div class="ttdoc">Perform any necessary configuration steps. This method also invokes ompl::base::SpaceInformation::set...</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00264">AnytimePathShortening.cpp:264</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1PathHybridization_html"><div class="ttname"><a href="classompl_1_1geometric_1_1PathHybridization.html">ompl::geometric::PathHybridization</a></div><div class="ttdoc">Given multiple geometric paths, attempt to combine them in order to obtain a shorter solution.</div><div class="ttdef"><b>Definition:</b> <a href="PathHybridization_8h_source.html#l00134">PathHybridization.h:134</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerTerminationCondition_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a></div><div class="ttdoc">Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...</div><div class="ttdef"><b>Definition:</b> <a href="PlannerTerminationCondition_8h_source.html#l00127">PlannerTerminationCondition.h:127</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1PathHybridization_html_a79c48a4d834b1dca0c688f7cb737e5f1"><div class="ttname"><a href="classompl_1_1geometric_1_1PathHybridization.html#a79c48a4d834b1dca0c688f7cb737e5f1">ompl::geometric::PathHybridization::computeHybridPath</a></div><div class="ttdeci">void computeHybridPath()</div><div class="ttdoc">Run Dijkstra's algorithm to find out the lowest-cost path among the mixed ones.</div><div class="ttdef"><b>Definition:</b> <a href="PathHybridization_8cpp_source.html#l00108">PathHybridization.cpp:108</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_a4311ea7a0470f0e0f76cb1656d63e365"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365">ompl::base::Planner::specs_</a></div><div class="ttdeci">PlannerSpecs specs_</div><div class="ttdoc">The specifications of the planner (its capabilities)</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8h_source.html#l00486">Planner.h:486</a></div></div>
<div class="ttc" id="anamespaceompl_1_1msg_html_a1c18c4617e713817e0e4fe7dc5c5c864"><div class="ttname"><a href="namespaceompl_1_1msg.html#a1c18c4617e713817e0e4fe7dc5c5c864">ompl::msg::setLogLevel</a></div><div class="ttdeci">void setLogLevel(LogLevel level)</div><div class="ttdoc">Set the minimum level of logging data to output. Messages with lower logging levels will not be recor...</div><div class="ttdef"><b>Definition:</b> <a href="Console_8cpp_source.html#l00136">Console.cpp:136</a></div></div>
<div class="ttc" id="anamespaceompl_1_1msg_html_ace832246a7b4bc5a50dde93a7e29a6b9"><div class="ttname"><a href="namespaceompl_1_1msg.html#ace832246a7b4bc5a50dde93a7e29a6b9">ompl::msg::LogLevel</a></div><div class="ttdeci">LogLevel</div><div class="ttdoc">The set of priorities for message logging.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00084">Console.h:84</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a68d82f4cd29e154fab61a4d60c68669b"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a68d82f4cd29e154fab61a4d60c68669b">ompl::geometric::AnytimePathShortening::AnytimePathShortening</a></div><div class="ttdeci">AnytimePathShortening(const base::SpaceInformationPtr &si)</div><div class="ttdoc">Constructor requires the space information to plan in.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00075">AnytimePathShortening.cpp:75</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerSpecs_html_a83869b1cd49a91e29b0b926188402a0a"><div class="ttname"><a href="structompl_1_1base_1_1PlannerSpecs.html#a83869b1cd49a91e29b0b926188402a0a">ompl::base::PlannerSpecs::optimizingPaths</a></div><div class="ttdeci">bool optimizingPaths</div><div class="ttdoc">Flag indicating whether the planner attempts to optimize the path and reduce its length until the max...</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8h_source.html#l00263">Planner.h:263</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a87f613b7a320e847bb1b496e1fc331ea"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a87f613b7a320e847bb1b496e1fc331ea">ompl::geometric::AnytimePathShortening::isHybridizing</a></div><div class="ttdeci">bool isHybridizing() const</div><div class="ttdoc">Return whether the anytime planner will extract a hybrid path from the set of solution paths.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00311">AnytimePathShortening.cpp:311</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a45bd5e4eb3b3504054dd3fb7d828ebf1"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a45bd5e4eb3b3504054dd3fb7d828ebf1">ompl::geometric::AnytimePathShortening::threadSolve</a></div><div class="ttdeci">virtual void threadSolve(base::Planner *planner, const base::PlannerTerminationCondition &ptc)</div><div class="ttdoc">The function that the planning threads execute when solving a motion planning problem.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00216">AnytimePathShortening.cpp:216</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a></div><div class="ttdoc">A class to store the exit status of Planner::solve()</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00112">PlannerStatus.h:112</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a4bf18a0fe0790f98df29efad2a57d063"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a4bf18a0fe0790f98df29efad2a57d063">ompl::geometric::AnytimePathShortening::setDefaultNumPlanners</a></div><div class="ttdeci">void setDefaultNumPlanners(unsigned int numPlanners)</div><div class="ttdoc">Set default number of planners to use if none are specified.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00331">AnytimePathShortening.cpp:331</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_ab844f79b1c425c8d76e03ea5ae6eca66"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#ab844f79b1c425c8d76e03ea5ae6eca66">ompl::geometric::AnytimePathShortening::addPath</a></div><div class="ttdeci">void addPath(const geometric::PathGeometricPtr &path, base::Planner *planner)</div><div class="ttdoc">add a path to set of solutions</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00119">AnytimePathShortening.cpp:119</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a792c8cbfa11ffd112b335ef2bd4f9ddc"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a792c8cbfa11ffd112b335ef2bd4f9ddc">ompl::geometric::AnytimePathShortening::printSettings</a></div><div class="ttdeci">void printSettings(std::ostream &out) const override</div><div class="ttdoc">Print settings of this planner as well as those of the planner instances it contains.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00454">AnytimePathShortening.cpp:454</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_ab2610ddcdd47e0bfb8d358e84a0dc5cf"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#ab2610ddcdd47e0bfb8d358e84a0dc5cf">ompl::geometric::AnytimePathShortening::setMaxHybridizationPath</a></div><div class="ttdeci">void setMaxHybridizationPath(unsigned int maxPathCount)</div><div class="ttdoc">Set the maximum number of paths that will be hybridized.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00326">AnytimePathShortening.cpp:326</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_adff084b1cf5ea5c2eda5a7cc5430b14a"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#adff084b1cf5ea5c2eda5a7cc5430b14a">ompl::geometric::AnytimePathShortening::setHybridize</a></div><div class="ttdeci">void setHybridize(bool hybridize)</div><div class="ttdoc">Enable/disable path hybridization on the set of solution paths.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00316">AnytimePathShortening.cpp:316</a></div></div>
<div class="ttc" id="agroup__logging_html_gab76357dced39cb468d2061d3358f80a6"><div class="ttname"><a href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a></div><div class="ttdeci">#define OMPL_WARN(fmt,...)</div><div class="ttdoc">Log a formatted warning string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00066">Console.h:66</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_ad489dbf23137f43c45bf9c5cc78ee314"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#ad489dbf23137f43c45bf9c5cc78ee314">ompl::geometric::AnytimePathShortening::getDefaultNumPlanners</a></div><div class="ttdeci">unsigned int getDefaultNumPlanners() const</div><div class="ttdoc">Get default number of planners used if none are specified.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00336">AnytimePathShortening.cpp:336</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1PathSimplifier_html_a911bdadf0c84acdae69d003b99f8d48e"><div class="ttname"><a href="classompl_1_1geometric_1_1PathSimplifier.html#a911bdadf0c84acdae69d003b99f8d48e">ompl::geometric::PathSimplifier::shortcutPath</a></div><div class="ttdeci">bool shortcutPath(PathGeometric &path, unsigned int maxSteps=0, unsigned int maxEmptySteps=0, double rangeRatio=0.33, double snapToVertex=0.005)</div><div class="ttdoc">Given a path, attempt to shorten it while maintaining its validity. This is an iterative process that...</div><div class="ttdef"><b>Definition:</b> <a href="PathSimplifier_8cpp_source.html#l00187">PathSimplifier.cpp:187</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28">ompl::base::PlannerStatus::EXACT_SOLUTION</a></div><div class="ttdeci">@ EXACT_SOLUTION</div><div class="ttdoc">The planner found an exact solution.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00194">PlannerStatus.h:194</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a69ef0526165cef29fd59ed5b08b03fc0"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a69ef0526165cef29fd59ed5b08b03fc0">ompl::base::PlannerStatus::UNKNOWN</a></div><div class="ttdeci">@ UNKNOWN</div><div class="ttdoc">Uninitialized status.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00182">PlannerStatus.h:182</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a3266fdd4d26199a27505e24848681809"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a3266fdd4d26199a27505e24848681809">ompl::geometric::AnytimePathShortening::getBestCost</a></div><div class="ttdeci">std::string getBestCost() const</div><div class="ttdoc">Return best cost found so far by algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00341">AnytimePathShortening.cpp:341</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a23d99807a19e8dedc3fd2d0b90c77e41"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a23d99807a19e8dedc3fd2d0b90c77e41">ompl::geometric::AnytimePathShortening::clear</a></div><div class="ttdeci">void clear() override</div><div class="ttdoc">Clear all internal planning datastructures. Planner settings are not affected. Subsequent calls to so...</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00240">AnytimePathShortening.cpp:240</a></div></div>
<div class="ttc" id="anamespaceompl_1_1msg_html_ad43f0d2a008f25720e8111395c5ff314"><div class="ttname"><a href="namespaceompl_1_1msg.html#ad43f0d2a008f25720e8111395c5ff314">ompl::msg::getLogLevel</a></div><div class="ttdeci">LogLevel getLogLevel()</div><div class="ttdoc">Retrieve the current level of logging data. Messages with lower logging levels will not be recorded.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8cpp_source.html#l00142">Console.cpp:142</a></div></div>
<div class="ttc" id="agroup__logging_html_ga05ad3ae88188e7f248748785afd2b882"><div class="ttname"><a href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a></div><div class="ttdeci">#define OMPL_ERROR(fmt,...)</div><div class="ttdoc">Log a formatted error string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00064">Console.h:64</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a361e25a2f860b9c4d6bde7f0c305d643"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a361e25a2f860b9c4d6bde7f0c305d643">ompl::geometric::AnytimePathShortening::setPlanners</a></div><div class="ttdeci">void setPlanners(const std::string &plannerList)</div><div class="ttdoc">Set the list of planners to use.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00346">AnytimePathShortening.cpp:346</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerTerminationCondition_html_a85fb9853ac33bf2ddce3f0d35efe9aa1"><div class="ttname"><a href="classompl_1_1base_1_1PlannerTerminationCondition.html#a85fb9853ac33bf2ddce3f0d35efe9aa1">ompl::base::PlannerTerminationCondition::terminate</a></div><div class="ttdeci">void terminate() const</div><div class="ttdoc">Notify that the condition for termination should become true, regardless of what eval() returns....</div><div class="ttdef"><b>Definition:</b> <a href="PlannerTerminationCondition_8cpp_source.html#l00172">PlannerTerminationCondition.cpp:172</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerSpecs_html_ae2facc9260851b161577e36f5a4baefc"><div class="ttname"><a href="structompl_1_1base_1_1PlannerSpecs.html#ae2facc9260851b161577e36f5a4baefc">ompl::base::PlannerSpecs::approximateSolutions</a></div><div class="ttdeci">bool approximateSolutions</div><div class="ttdoc">Flag indicating whether the planner is able to compute approximate solutions.</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8h_source.html#l00259">Planner.h:259</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a1c232188759e88c19e9753f4f9f2cb07"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a1c232188759e88c19e9753f4f9f2cb07">ompl::geometric::AnytimePathShortening::~AnytimePathShortening</a></div><div class="ttdeci">~AnytimePathShortening() override</div><div class="ttdoc">Destructor.</div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1SelfConfig_html_ae9f747585a0c3fdc50667d9f8a39095d"><div class="ttname"><a href="classompl_1_1tools_1_1SelfConfig.html#ae9f747585a0c3fdc50667d9f8a39095d">ompl::tools::SelfConfig::getDefaultPlanner</a></div><div class="ttdeci">static base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)</div><div class="ttdoc">Given a goal specification, decide on a planner for that goal.</div><div class="ttdef"><b>Definition:</b> <a href="SelfConfig_8cpp_source.html#l00243">SelfConfig.cpp:243</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_ad1237257ad575b30aa4957149b446c4b"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#ad1237257ad575b30aa4957149b446c4b">ompl::geometric::AnytimePathShortening::addPlanner</a></div><div class="ttdeci">void addPlanner(base::PlannerPtr &planner)</div><div class="ttdoc">Adds the given planner to the set of planners used to compute candidate paths.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00098">AnytimePathShortening.cpp:98</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a7169c82efe82474a07b984a0cd2d06fc"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a7169c82efe82474a07b984a0cd2d06fc">ompl::geometric::AnytimePathShortening::solve</a></div><div class="ttdeci">base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override</div><div class="ttdoc">Method that solves the motion planning problem. This method terminates under just two conditions,...</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00134">AnytimePathShortening.cpp:134</a></div></div>
<div class="ttc" id="anamespaceompl_html_a6e6c38ce80fbb8f10d826bb19b64735a"><div class="ttname"><a href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a></div><div class="ttdeci">std::string toString(float val)</div><div class="ttdoc">convert float to string using classic "C" locale semantics</div><div class="ttdef"><b>Definition:</b> <a href="String_8cpp_source.html#l00082">String.cpp:82</a></div></div>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00021">AppBase.h:21</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_af957ba758b25d64de347306a45598142"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#af957ba758b25d64de347306a45598142">ompl::geometric::AnytimePathShortening::setShortcut</a></div><div class="ttdeci">void setShortcut(bool shortcut)</div><div class="ttdoc">Enable/disable shortcutting on paths.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00306">AnytimePathShortening.cpp:306</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_afbb688b85f2bea79c9f45669118b5565"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#afbb688b85f2bea79c9f45669118b5565">ompl::geometric::AnytimePathShortening::checkValidity</a></div><div class="ttdeci">void checkValidity() override</div><div class="ttdoc">Check to see if the planners are in a working state (setup has been called, a goal was set,...</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00284">AnytimePathShortening.cpp:284</a></div></div>
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