Program Listing for File PlannerMultiLevel.h

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/* Author: Andreas Orthey */

#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PLANNERMULTILEVEL_
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PLANNERMULTILEVEL_
#include <ompl/base/Planner.h>

namespace ompl
{
    namespace multilevel
    {
        class PlannerMultiLevel : public ompl::base::Planner
        {
            using BaseT = ompl::base::Planner;

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

            PlannerMultiLevel(ompl::base::SpaceInformationPtr si);

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

            virtual ~PlannerMultiLevel();

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

            ompl::base::ProblemDefinitionPtr &getProblemDefinitionNonConst(int level);

            const std::vector<ompl::base::ProblemDefinitionPtr> &getProblemDefinitionVector() const;

            virtual void clear() override;

            int getLevels() const;

            std::vector<int> getDimensionsPerLevel() const;

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

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

            std::vector<ompl::base::SpaceInformationPtr> siVec_;
        };
    }  // namespace multilevel
}  // namespace ompl
#endif