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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* Copyright (c) 2014, Rice University</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">* modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">*</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">* * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">* notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">* * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">* copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">* disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">* with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">* * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">* contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">* from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">*</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">*********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Author: Ryan Luna */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#ifndef OMPL_GEOMETRIC_PLANNERS_ANYTIMEOPTIMIZATION_ANYTIMEPATHSHORTENING_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_ANYTIMEOPTIMIZATION_ANYTIMEPATHSHORTENING_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include "ompl/base/Planner.h"</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <vector></span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <thread></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <mutex></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> {</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keyword">namespace </span>geometric</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  {</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  OMPL_CLASS_FORWARD(PathGeometric);</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keyword">class </span>AnytimePathShortening : <span class="keyword">public</span> base::Planner</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  {</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keyword">template</span><<span class="keyword">typename</span> PlannerType></div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keyword">static</span> std::shared_ptr<AnytimePathShortening> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a91b49e966e07da56a0b624b4615603be">createPlanner</a>(</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keyword">const</span> base::SpaceInformationPtr &si,</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numPlanners = std::max(1u, std::thread::hardware_concurrency()))</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  {</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keyword">auto</span> result = std::make_shared<AnytimePathShortening>(si);</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  result->planners_.reserve(numPlanners);</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < numPlanners; ++i)</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  result->planners_.emplace_back(std::make_shared<PlannerType>(si));</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keywordflow">return</span> result;</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  }</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keyword">template</span><<span class="keyword">typename</span> ... PlannerTypes></div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keyword">static</span> std::shared_ptr<AnytimePathShortening> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a91b49e966e07da56a0b624b4615603be">createPlanner</a>(<span class="keyword">const</span> base::SpaceInformationPtr &si)</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  {</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keyword">auto</span> result = std::make_shared<AnytimePathShortening>(si);</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  result->planners_ = std::vector<base::PlannerPtr>{std::make_shared<PlannerTypes>(si)...};</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordflow">return</span> result;</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  }</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  </div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a68d82f4cd29e154fab61a4d60c68669b">AnytimePathShortening</a>(<span class="keyword">const</span> base::SpaceInformationPtr &si);</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  </div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a1c232188759e88c19e9753f4f9f2cb07">~AnytimePathShortening</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  </div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ad1237257ad575b30aa4957149b446c4b">addPlanner</a>(base::PlannerPtr &planner);</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  </div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  base::PlannerStatus <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a7169c82efe82474a07b984a0cd2d06fc">solve</a>(<span class="keyword">const</span> base::PlannerTerminationCondition &ptc) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  </div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a23d99807a19e8dedc3fd2d0b90c77e41">clear</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  </div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a39e2916ab1910aa896e94fd555cdb88a">getPlannerData</a>(base::PlannerData &data) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  </div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a39e2916ab1910aa896e94fd555cdb88a">getPlannerData</a>(<a class="code" href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a> &data, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  </div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a7da328b1795277ecfc9dae69633dd730">setup</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  </div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#afbb688b85f2bea79c9f45669118b5565">checkValidity</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  </div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#abf85a0df90e37a4dd7a74fb33ac15120">getNumPlanners</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  </div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  base::PlannerPtr <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a0c81bef29928591c2ff517414351dfd1">getPlanner</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  </div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a7e5ab0a295da05e09bb99714d31c5442">isShortcutting</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  </div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#af957ba758b25d64de347306a45598142">setShortcut</a>(<span class="keywordtype">bool</span> shortcut);</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  </div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a87f613b7a320e847bb1b496e1fc331ea">isHybridizing</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  </div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#adff084b1cf5ea5c2eda5a7cc5430b14a">setHybridize</a>(<span class="keywordtype">bool</span> hybridize);</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  </div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a43b013f8dc14e39905f1e4f6962cd4cc">maxHybridizationPaths</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  </div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ab2610ddcdd47e0bfb8d358e84a0dc5cf">setMaxHybridizationPath</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxPathCount);</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  </div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a361e25a2f860b9c4d6bde7f0c305d643">setPlanners</a>(<span class="keyword">const</span> std::string &plannerList);</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  </div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  std::string <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ab5ee2ea8174e004fd56c257278b97b22">getPlanners</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  </div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a4bf18a0fe0790f98df29efad2a57d063">setDefaultNumPlanners</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numPlanners);</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  </div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ad489dbf23137f43c45bf9c5cc78ee314">getDefaultNumPlanners</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  </div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  std::string <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a3266fdd4d26199a27505e24848681809">getBestCost</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  </div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a908c9bcd71d1d49db47923e655b5ae1b"> 201</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a792c8cbfa11ffd112b335ef2bd4f9ddc">printSettings</a>(std::ostream &out) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  </div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ab844f79b1c425c8d76e03ea5ae6eca66">addPath</a>(<span class="keyword">const</span> geometric::PathGeometricPtr &path, <a class="code" href="classompl_1_1base_1_1Planner.html">base::Planner</a> *planner);</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  </div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a45bd5e4eb3b3504054dd3fb7d828ebf1">threadSolve</a>(<a class="code" href="classompl_1_1base_1_1Planner.html">base::Planner</a> *planner, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc);</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  </div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  std::vector<base::PlannerPtr> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ae2169c2756e275f7d5c6ffe9bd458c0e">planners_</a>;</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  </div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a607e4d18be95e649c3b69ee3bdf32651">shortcut_</a>{<span class="keyword">true</span>};</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  </div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a08c5644404eab319beadc35b4ed7812c">hybridize_</a>{<span class="keyword">true</span>};</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  </div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a62fbc6ffca34e3474359502a456c4497">maxHybridPaths_</a>{24};</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  </div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a1f8e86f356ffafbf6db8521a43f091d5">defaultNumPlanners_</a>;</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  </div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  base::Cost <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#ad2492eb9dcf392d397204a27ea34ac3d">bestCost_</a>{std::numeric_limits<double>::quiet_NaN()};</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  </div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  std::mutex <a class="code" href="classompl_1_1geometric_1_1AnytimePathShortening.html#a7c6d2ca24c7e4d028b0d8c8db6cbcccb">lock_</a>;</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  };</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  }</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span> }</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span> <span class="preprocessor">#endif</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a08c5644404eab319beadc35b4ed7812c"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a08c5644404eab319beadc35b4ed7812c">ompl::geometric::AnytimePathShortening::hybridize_</a></div><div class="ttdeci">bool hybridize_</div><div class="ttdoc">Flag indicating whether to hybridize the set of solution paths.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8h_source.html#l00318">AnytimePathShortening.h:318</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html">ompl::base::Planner</a></div><div class="ttdoc">Base class for a planner.</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8h_source.html#l00279">Planner.h:279</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a43b013f8dc14e39905f1e4f6962cd4cc"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a43b013f8dc14e39905f1e4f6962cd4cc">ompl::geometric::AnytimePathShortening::maxHybridizationPaths</a></div><div class="ttdeci">unsigned int maxHybridizationPaths() const</div><div class="ttdoc">Return the maximum number of paths that will be hybridized.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00321">AnytimePathShortening.cpp:321</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_ab5ee2ea8174e004fd56c257278b97b22"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#ab5ee2ea8174e004fd56c257278b97b22">ompl::geometric::AnytimePathShortening::getPlanners</a></div><div class="ttdeci">std::string getPlanners() const</div><div class="ttdoc">Get a string representation of the planners and their parameters in the format of setPlanners.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00428">AnytimePathShortening.cpp:428</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a39e2916ab1910aa896e94fd555cdb88a"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a39e2916ab1910aa896e94fd555cdb88a">ompl::geometric::AnytimePathShortening::getPlannerData</a></div><div class="ttdeci">void getPlannerData(base::PlannerData &data) const override</div><div class="ttdoc">Get information about the most recent run of the motion planner.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00248">AnytimePathShortening.cpp:248</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a1f8e86f356ffafbf6db8521a43f091d5"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a1f8e86f356ffafbf6db8521a43f091d5">ompl::geometric::AnytimePathShortening::defaultNumPlanners_</a></div><div class="ttdeci">unsigned int defaultNumPlanners_</div><div class="ttdoc">The number of planners to use if none are specified. This defaults to the number of cores....</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8h_source.html#l00326">AnytimePathShortening.h:326</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a7e5ab0a295da05e09bb99714d31c5442"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a7e5ab0a295da05e09bb99714d31c5442">ompl::geometric::AnytimePathShortening::isShortcutting</a></div><div class="ttdeci">bool isShortcutting() const</div><div class="ttdoc">Return whether the anytime planner will perform shortcutting on paths.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00301">AnytimePathShortening.cpp:301</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_ad2492eb9dcf392d397204a27ea34ac3d"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#ad2492eb9dcf392d397204a27ea34ac3d">ompl::geometric::AnytimePathShortening::bestCost_</a></div><div class="ttdeci">base::Cost bestCost_</div><div class="ttdoc">Best cost found so far by algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8h_source.html#l00329">AnytimePathShortening.h:329</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a91b49e966e07da56a0b624b4615603be"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a91b49e966e07da56a0b624b4615603be">ompl::geometric::AnytimePathShortening::createPlanner</a></div><div class="ttdeci">static std::shared_ptr< AnytimePathShortening > createPlanner(const base::SpaceInformationPtr &si, unsigned int numPlanners=std::max(1u, std::thread::hardware_concurrency()))</div><div class="ttdoc">Factory for creating a shared pointer to an AnytimePathShortening instance with numPlanners instances...</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8h_source.html#l00183">AnytimePathShortening.h:183</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a0c81bef29928591c2ff517414351dfd1"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a0c81bef29928591c2ff517414351dfd1">ompl::geometric::AnytimePathShortening::getPlanner</a></div><div class="ttdeci">base::PlannerPtr getPlanner(unsigned int idx) const</div><div class="ttdoc">Retrieve a pointer to the ith planner instance.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00295">AnytimePathShortening.cpp:295</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a7c6d2ca24c7e4d028b0d8c8db6cbcccb"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a7c6d2ca24c7e4d028b0d8c8db6cbcccb">ompl::geometric::AnytimePathShortening::lock_</a></div><div class="ttdeci">std::mutex lock_</div><div class="ttdoc">mutex for updating bestCost_</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8h_source.html#l00332">AnytimePathShortening.h:332</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_abf85a0df90e37a4dd7a74fb33ac15120"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#abf85a0df90e37a4dd7a74fb33ac15120">ompl::geometric::AnytimePathShortening::getNumPlanners</a></div><div class="ttdeci">unsigned int getNumPlanners() const</div><div class="ttdoc">Retrieve the number of planners added.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00290">AnytimePathShortening.cpp:290</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a></div><div class="ttdoc">Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...</div><div class="ttdef"><b>Definition:</b> <a href="base_2PlannerData_8h_source.html#l00238">PlannerData.h:238</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a7da328b1795277ecfc9dae69633dd730"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a7da328b1795277ecfc9dae69633dd730">ompl::geometric::AnytimePathShortening::setup</a></div><div class="ttdeci">void setup() override</div><div class="ttdoc">Perform any necessary configuration steps. This method also invokes ompl::base::SpaceInformation::set...</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00264">AnytimePathShortening.cpp:264</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerTerminationCondition_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a></div><div class="ttdoc">Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...</div><div class="ttdef"><b>Definition:</b> <a href="PlannerTerminationCondition_8h_source.html#l00127">PlannerTerminationCondition.h:127</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a68d82f4cd29e154fab61a4d60c68669b"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a68d82f4cd29e154fab61a4d60c68669b">ompl::geometric::AnytimePathShortening::AnytimePathShortening</a></div><div class="ttdeci">AnytimePathShortening(const base::SpaceInformationPtr &si)</div><div class="ttdoc">Constructor requires the space information to plan in.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00075">AnytimePathShortening.cpp:75</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a87f613b7a320e847bb1b496e1fc331ea"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a87f613b7a320e847bb1b496e1fc331ea">ompl::geometric::AnytimePathShortening::isHybridizing</a></div><div class="ttdeci">bool isHybridizing() const</div><div class="ttdoc">Return whether the anytime planner will extract a hybrid path from the set of solution paths.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00311">AnytimePathShortening.cpp:311</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a45bd5e4eb3b3504054dd3fb7d828ebf1"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a45bd5e4eb3b3504054dd3fb7d828ebf1">ompl::geometric::AnytimePathShortening::threadSolve</a></div><div class="ttdeci">virtual void threadSolve(base::Planner *planner, const base::PlannerTerminationCondition &ptc)</div><div class="ttdoc">The function that the planning threads execute when solving a motion planning problem.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00216">AnytimePathShortening.cpp:216</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a607e4d18be95e649c3b69ee3bdf32651"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a607e4d18be95e649c3b69ee3bdf32651">ompl::geometric::AnytimePathShortening::shortcut_</a></div><div class="ttdeci">bool shortcut_</div><div class="ttdoc">Flag indicating whether to shortcut paths.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8h_source.html#l00315">AnytimePathShortening.h:315</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a4bf18a0fe0790f98df29efad2a57d063"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a4bf18a0fe0790f98df29efad2a57d063">ompl::geometric::AnytimePathShortening::setDefaultNumPlanners</a></div><div class="ttdeci">void setDefaultNumPlanners(unsigned int numPlanners)</div><div class="ttdoc">Set default number of planners to use if none are specified.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00331">AnytimePathShortening.cpp:331</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_ab844f79b1c425c8d76e03ea5ae6eca66"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#ab844f79b1c425c8d76e03ea5ae6eca66">ompl::geometric::AnytimePathShortening::addPath</a></div><div class="ttdeci">void addPath(const geometric::PathGeometricPtr &path, base::Planner *planner)</div><div class="ttdoc">add a path to set of solutions</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00119">AnytimePathShortening.cpp:119</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a792c8cbfa11ffd112b335ef2bd4f9ddc"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a792c8cbfa11ffd112b335ef2bd4f9ddc">ompl::geometric::AnytimePathShortening::printSettings</a></div><div class="ttdeci">void printSettings(std::ostream &out) const override</div><div class="ttdoc">Print settings of this planner as well as those of the planner instances it contains.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00454">AnytimePathShortening.cpp:454</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_ab2610ddcdd47e0bfb8d358e84a0dc5cf"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#ab2610ddcdd47e0bfb8d358e84a0dc5cf">ompl::geometric::AnytimePathShortening::setMaxHybridizationPath</a></div><div class="ttdeci">void setMaxHybridizationPath(unsigned int maxPathCount)</div><div class="ttdoc">Set the maximum number of paths that will be hybridized.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00326">AnytimePathShortening.cpp:326</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_adff084b1cf5ea5c2eda5a7cc5430b14a"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#adff084b1cf5ea5c2eda5a7cc5430b14a">ompl::geometric::AnytimePathShortening::setHybridize</a></div><div class="ttdeci">void setHybridize(bool hybridize)</div><div class="ttdoc">Enable/disable path hybridization on the set of solution paths.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00316">AnytimePathShortening.cpp:316</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_ad489dbf23137f43c45bf9c5cc78ee314"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#ad489dbf23137f43c45bf9c5cc78ee314">ompl::geometric::AnytimePathShortening::getDefaultNumPlanners</a></div><div class="ttdeci">unsigned int getDefaultNumPlanners() const</div><div class="ttdoc">Get default number of planners used if none are specified.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00336">AnytimePathShortening.cpp:336</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a3266fdd4d26199a27505e24848681809"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a3266fdd4d26199a27505e24848681809">ompl::geometric::AnytimePathShortening::getBestCost</a></div><div class="ttdeci">std::string getBestCost() const</div><div class="ttdoc">Return best cost found so far by algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00341">AnytimePathShortening.cpp:341</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a23d99807a19e8dedc3fd2d0b90c77e41"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a23d99807a19e8dedc3fd2d0b90c77e41">ompl::geometric::AnytimePathShortening::clear</a></div><div class="ttdeci">void clear() override</div><div class="ttdoc">Clear all internal planning datastructures. Planner settings are not affected. Subsequent calls to so...</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00240">AnytimePathShortening.cpp:240</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a361e25a2f860b9c4d6bde7f0c305d643"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a361e25a2f860b9c4d6bde7f0c305d643">ompl::geometric::AnytimePathShortening::setPlanners</a></div><div class="ttdeci">void setPlanners(const std::string &plannerList)</div><div class="ttdoc">Set the list of planners to use.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00346">AnytimePathShortening.cpp:346</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a1c232188759e88c19e9753f4f9f2cb07"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a1c232188759e88c19e9753f4f9f2cb07">ompl::geometric::AnytimePathShortening::~AnytimePathShortening</a></div><div class="ttdeci">~AnytimePathShortening() override</div><div class="ttdoc">Destructor.</div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_ad1237257ad575b30aa4957149b446c4b"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#ad1237257ad575b30aa4957149b446c4b">ompl::geometric::AnytimePathShortening::addPlanner</a></div><div class="ttdeci">void addPlanner(base::PlannerPtr &planner)</div><div class="ttdoc">Adds the given planner to the set of planners used to compute candidate paths.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00098">AnytimePathShortening.cpp:98</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a7169c82efe82474a07b984a0cd2d06fc"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a7169c82efe82474a07b984a0cd2d06fc">ompl::geometric::AnytimePathShortening::solve</a></div><div class="ttdeci">base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override</div><div class="ttdoc">Method that solves the motion planning problem. This method terminates under just two conditions,...</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00134">AnytimePathShortening.cpp:134</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_a62fbc6ffca34e3474359502a456c4497"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#a62fbc6ffca34e3474359502a456c4497">ompl::geometric::AnytimePathShortening::maxHybridPaths_</a></div><div class="ttdeci">unsigned int maxHybridPaths_</div><div class="ttdoc">The maximum number of paths that will be hybridized. This prohibits hybridization of a very large pat...</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8h_source.html#l00322">AnytimePathShortening.h:322</a></div></div>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00021">AppBase.h:21</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_af957ba758b25d64de347306a45598142"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#af957ba758b25d64de347306a45598142">ompl::geometric::AnytimePathShortening::setShortcut</a></div><div class="ttdeci">void setShortcut(bool shortcut)</div><div class="ttdoc">Enable/disable shortcutting on paths.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00306">AnytimePathShortening.cpp:306</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_afbb688b85f2bea79c9f45669118b5565"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#afbb688b85f2bea79c9f45669118b5565">ompl::geometric::AnytimePathShortening::checkValidity</a></div><div class="ttdeci">void checkValidity() override</div><div class="ttdoc">Check to see if the planners are in a working state (setup has been called, a goal was set,...</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8cpp_source.html#l00284">AnytimePathShortening.cpp:284</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AnytimePathShortening_html_ae2169c2756e275f7d5c6ffe9bd458c0e"><div class="ttname"><a href="classompl_1_1geometric_1_1AnytimePathShortening.html#ae2169c2756e275f7d5c6ffe9bd458c0e">ompl::geometric::AnytimePathShortening::planners_</a></div><div class="ttdeci">std::vector< base::PlannerPtr > planners_</div><div class="ttdoc">The list of planners used for solving the problem.</div><div class="ttdef"><b>Definition:</b> <a href="AnytimePathShortening_8h_source.html#l00312">AnytimePathShortening.h:312</a></div></div>
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