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ParallelPlan.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_TOOLS_MULTIPLAN_PARALLEL_PLAN_
00038 #define OMPL_TOOLS_MULTIPLAN_PARALLEL_PLAN_
00039 
00040 #include "ompl/base/Planner.h"
00041 #include "ompl/geometric/PathGeometric.h"
00042 #include <boost/thread.hpp>
00043 
00044 namespace ompl
00045 {
00047     namespace geometric
00048     {
00049         ClassForward(PathHybridization);
00050     }
00052 
00053     namespace tools
00054     {
00055 
00063         class ParallelPlan
00064         {
00065         public:
00066 
00068             ParallelPlan(const base::ProblemDefinitionPtr &pdef);
00069 
00070             virtual ~ParallelPlan(void);
00071 
00073             void addPlanner(const base::PlannerPtr &planner);
00074 
00076             void addPlannerAllocator(const base::PlannerAllocator &pa);
00077 
00079             void clearHybridizationPaths(void);
00080 
00082             void clearPlanners(void);
00083 
00085             const base::ProblemDefinitionPtr& getProblemDefinition(void) const
00086             {
00087                 return pdef_;
00088             }
00089 
00093             bool solve(double solveTime, bool hybridize = true);
00094 
00098             bool solve(const base::PlannerTerminationCondition &ptc, bool hybridize = true);
00099 
00104             bool solve(double solveTime, std::size_t minSolCount, std::size_t maxSolCount, bool hybridize = true);
00105 
00110             bool solve(const base::PlannerTerminationCondition &ptc, std::size_t minSolCount, std::size_t maxSolCount, bool hybridize = true);
00111 
00112         protected:
00113 
00115             void solveOne(base::Planner *planner, std::size_t minSolCount, const base::PlannerTerminationCondition *ptc);
00116 
00118             void solveMore(base::Planner *planner, std::size_t minSolCount, std::size_t maxSolCount, const base::PlannerTerminationCondition *ptc);
00119 
00121             base::ProblemDefinitionPtr      pdef_;
00122 
00124             std::vector<base::PlannerPtr>   planners_;
00125 
00127             geometric::PathHybridizationPtr phybrid_;
00128 
00130             boost::mutex                    phlock_;
00131 
00133             msg::Interface                  msg_;
00134 
00135         private:
00136 
00138             unsigned int                    foundSolCount_;
00139 
00141             boost::mutex                    foundSolCountLock_;
00142         };
00143 
00144     }
00145 }
00146 
00147 #endif