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OptimizePlan.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/tools/multiplan/OptimizePlan.h"
38 #include "ompl/geometric/PathSimplifier.h"
39 
41 {
42  if (planner && planner->getSpaceInformation().get() != getProblemDefinition()->getSpaceInformation().get())
43  throw Exception("Planner instance does not match space information");
44  planners_.push_back(planner);
45 }
46 
48 {
49  planners_.push_back(pa(getProblemDefinition()->getSpaceInformation()));
50 }
51 
53 {
54  planners_.clear();
55 }
56 
57 ompl::base::PlannerStatus ompl::tools::OptimizePlan::solve(double solveTime, unsigned int maxSol, unsigned int nthreads)
58 {
59  time::point end = time::now() + time::seconds(solveTime);
60  unsigned int nt = std::min(nthreads, (unsigned int)planners_.size());
61  logDebug("Using %u threads", nt);
62 
63  base::PlannerStatus result;
64  unsigned int np = 0;
65  const base::ProblemDefinitionPtr &pdef = getProblemDefinition();
66  const base::GoalPtr &goal = pdef->getGoal();
67  pp_.clearHybridizationPaths();
68 
69  while (time::now() < end)
70  {
71  pp_.clearPlanners();
72  for (unsigned int i = 0 ; i < nt ; ++i)
73  {
74  planners_[np]->clear();
75  pp_.addPlanner(planners_[np]);
76  np = (np + 1) % planners_.size();
77  }
78  base::PlannerStatus localResult = pp_.solve(std::max(time::seconds(end - time::now()), 0.0), true);
79  if (localResult)
80  {
82  result = localResult;
83 
84  if (pdef->getSolutionPath()->length() <= goal->getMaximumPathLength())
85  {
86  logDebug("Terminating early since solution path is shorted than the maximum path length");
87  break;
88  }
89  if (pdef->getSolutionCount() >= maxSol)
90  {
91  logDebug("Terminating early since %u solutions were generated", maxSol);
92  break;
93  }
94  }
95  }
96 
97  // if we have more time, and we have a geometric path, we try to simplify it
98  if (time::now() < end && result)
99  {
100  geometric::PathGeometric *p = dynamic_cast<geometric::PathGeometric*>(pdef->getSolutionPath().get());
101  if (p)
102  {
103  geometric::PathSimplifier ps(getProblemDefinition()->getSpaceInformation());
104  ps.simplify(*p, std::max(time::seconds(end - time::now()), 0.0));
105  }
106  }
107 
108  return result;
109 }