Class PlannerMultiLevel

• Defined in File PlannerMultiLevel.h

Inheritance Relationships

Base Type

• public ompl::base::Planner (Class Planner)

Derived Type

• public ompl::multilevel::BundleSpaceSequence< T > (Template Class BundleSpaceSequence)

Class Documentation

class PlannerMultiLevel : public ompl::base::Planner

MultiLevel Planner Interface. Extends base::Planner by allowing sequences of base::SpaceInformationPtr.

Subclassed by ompl::multilevel::BundleSpaceSequence< T >

Public Functions

PlannerMultiLevel(std::vector<ompl::base::SpaceInformationPtr> &siVec, std::string type = "PlannerMultiLevel")

Constructor for a set of ompl::base::SpaceInformationPtr which represent different abstraction levels.

PlannerMultiLevel(ompl::base::SpaceInformationPtr si)

PlannerMultiLevel(ompl::base::SpaceInformationPtr si, std::string type)

virtual ~PlannerMultiLevel()

const ompl::base::ProblemDefinitionPtr &getProblemDefinition(int level) const

Get ompl::base::ProblemDefinitionPtr for a specific level.

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.

virtual void clear() override

Clear multilevel planner by clearing all levels.

int getLevels() const

Number of multilevel abstractions.

std::vector<int> getDimensionsPerLevel() const

Get dimensionality of the multilevel abstraction.

Protected Attributes

std::vector<ompl::base::PathPtr> solutions_

Solution paths on each abstraction level.

std::vector<ompl::base::ProblemDefinitionPtr> pdefVec_

Sequence of ProblemDefinitionPtr.

std::vector<ompl::base::SpaceInformationPtr> siVec_

Each abstraction level has a unique ompl::base::SpaceInformationPtr.