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PlannerMultiLevel.cpp
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36
37/* Author: Andreas Orthey */
38
39#include <ompl/multilevel/datastructures/PlannerMultiLevel.h>
40
41using namespace ompl::multilevel;
42
43PlannerMultiLevel::PlannerMultiLevel(std::vector<ompl::base::SpaceInformationPtr> &siVec, std::string type)
44 : BaseT(siVec.back(), type), siVec_(siVec)
45{
46}
47
49{
50 siVec_.push_back(si);
51}
52
54{
55 siVec_.push_back(si);
56}
57
58PlannerMultiLevel::~PlannerMultiLevel()
59{
60}
61
63{
65 solutions_.clear();
66 pdef_->clearSolutionPaths();
67 for (unsigned int k = 0; k < pdefVec_.size(); k++)
68 {
69 pdefVec_.at(k)->clearSolutionPaths();
70 }
71}
72
74{
75 std::vector<int> dimensionsPerLevel;
76 for (unsigned int k = 0; k < siVec_.size(); k++)
77 {
78 unsigned int Nk = siVec_.at(k)->getStateDimension();
79 dimensionsPerLevel.push_back(Nk);
80 }
81 return dimensionsPerLevel;
82}
83
85{
86 return siVec_.size();
87}
88
93
95{
96 return pdefVec_.at(level);
97}
98
99const std::vector<ompl::base::ProblemDefinitionPtr> &PlannerMultiLevel::getProblemDefinitionVector() const
100{
101 return pdefVec_;
102}
Base class for a planner.
Definition Planner.h:216
const ProblemDefinitionPtr & getProblemDefinition() const
Get the problem definition the planner is trying to solve.
Definition Planner.cpp:71
ProblemDefinitionPtr pdef_
The user set problem definition.
Definition Planner.h:413
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition Planner.cpp:118
A shared pointer wrapper for ompl::base::ProblemDefinition.
A shared pointer wrapper for ompl::base::SpaceInformation.
int getLevels() const
Number of multilevel abstractions.
std::vector< ompl::base::ProblemDefinitionPtr > pdefVec_
Sequence of ProblemDefinitionPtr.
std::vector< ompl::base::SpaceInformationPtr > siVec_
Each abstraction level has a unique ompl::base::SpaceInformationPtr.
virtual void clear() override
Clear multilevel planner by clearing all levels.
std::vector< int > getDimensionsPerLevel() const
Get dimensionality of the multilevel abstraction.
PlannerMultiLevel(std::vector< ompl::base::SpaceInformationPtr > &siVec, std::string type="PlannerMultiLevel")
Constructor for a set of ompl::base::SpaceInformationPtr which represent different abstraction levels...
ompl::base::ProblemDefinitionPtr & getProblemDefinitionNonConst(int level)
Get ompl::base::ProblemDefinitionPtr for a specific level (non const)
const std::vector< ompl::base::ProblemDefinitionPtr > & getProblemDefinitionVector() const
Get all ompl::base::ProblemDefinitionPtr for all levels in the hierarchy.
std::vector< ompl::base::PathPtr > solutions_
Solution paths on each abstraction level.
This namespace contains datastructures and planners to exploit multilevel abstractions,...