C++ (Cpp) PlannerPtr Examples

Example #1

File: ParallelPlan.cpp Project: megan-starr9/UAV_Aiolos

void ompl::tools::ParallelPlan::addPlanner(const base::PlannerPtr &planner)
{
    if (planner && planner->getSpaceInformation().get() != pdef_->getSpaceInformation().get())
        throw Exception("Planner instance does not match space information");
    if (planner->getProblemDefinition().get() != pdef_.get())
        planner->setProblemDefinition(pdef_);
    planners_.push_back(planner);
}

Example #2

File: CForest.cpp Project: jvgomez/ompl

void ompl::geometric::CForest::addPlannerInstanceInternal(const base::PlannerPtr &planner)
{
    if (!planner->getSpecs().canReportIntermediateSolutions)
        OMPL_WARN("%s cannot report intermediate solutions, not added as CForest planner.", planner->getName().c_str());
    else
    {
        planner->setProblemDefinition(pdef_);
        if (planner->params().hasParam("focus_search"))
            planner->params()["focus_search"] = focusSearch_;
        else
            OMPL_WARN("%s does not appear to support search focusing.", planner->getName().c_str());

        planners_.push_back(planner);
    }
}

Example #3

File: LightningRetrieveRepair.cpp Project: GrapeTec/ompl

void ompl::geometric::LightningRetrieveRepair::setRepairPlanner(const base::PlannerPtr &planner)
{
    if (planner && planner->getSpaceInformation().get() != si_.get())
        throw Exception("LightningRetrieveRepair: Repair planner instance does not match space information");
    repairPlanner_ = planner;
    setup_ = false;
}

Example #4

File: OptimizePlan.cpp Project: davetcoleman/ompl

void ompl::tools::OptimizePlan::addPlanner(const base::PlannerPtr &planner)
{
    if (planner && planner->getSpaceInformation().get() != getProblemDefinition()->getSpaceInformation().get())
        throw Exception("Planner instance does not match space information");
    planners_.push_back(planner);
}