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);
}
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);
}
}
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;
}
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);
}