planner_lemur.h

Go to the documentation of this file.

namespace or_lemur
{

/* 
 * This planner is totally stateless -- a new ompl planner
 * is created on each call to InitPlan()
 */
class LEMUR : public OpenRAVE::PlannerBase
{
public:

   const OpenRAVE::EnvironmentBasePtr env;
   LEMURParametersConstPtr params;
   OpenRAVE::RobotBasePtr robot;
   std::vector<int> robot_adofs;
   ompl::base::SpaceInformationPtr ompl_si;
   or_lemur::OrCheckerPtr ompl_checker;
   ompl_lemur::BinaryUtilityCheckerPtr ompl_binary_checker;
   //boost::shared_ptr< or_lemur::RoadmapCached<ompl_lemur::LEMUR::Roadmap> > roadmapgen;
   boost::shared_ptr<ompl_lemur::LEMUR> ompl_planner;
   ompl::base::ProblemDefinitionPtr ompl_pdef;
   
   LEMUR(OpenRAVE::EnvironmentBasePtr env);
   ~LEMUR();
   
   bool InitPlan(OpenRAVE::RobotBasePtr robot, std::istream & isParameters);
   
   bool InitPlan(OpenRAVE::RobotBasePtr robot, OpenRAVE::PlannerBase::PlannerParametersConstPtr params);
   
   OpenRAVE::PlannerBase::PlannerParametersConstPtr GetParameters() const;
   
   OpenRAVE::PlannerStatus PlanPath(OpenRAVE::TrajectoryBasePtr);
   
   bool GetTimes(std::ostream & sout, std::istream & sin) const;
};

} // namespace or_lemur