Esempi in C++ (Cpp) per PlannerPtr::setProblemDefinition

Esempio n. 1

File: ParallelPlan.cpp Progetto: 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);
}

Esempio n. 2

File: CForest.cpp Progetto: 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);
    }
}