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<title>OMPL: ompl::base::Planner Class Reference</title>
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<li class="navelem"><a class="el" href="namespaceompl.html">ompl</a> </li>
<li class="navelem"><a class="el" href="namespaceompl_1_1base.html">base</a> </li>
<li class="navelem"><a class="el" href="classompl_1_1base_1_1Planner.html">Planner</a> </li>
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<div class="title">ompl::base::Planner Class Reference</div> </div>
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<!-- doxytag: class="ompl::base::Planner" -->
<p>Base class for a planner.
<a href="classompl_1_1base_1_1Planner.html#details">More...</a></p>
<p><code>#include <<a class="el" href="Planner_8h_source.html">Planner.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::base::Planner:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1base_1_1Planner__inherit__graph.png" border="0" usemap="#ompl_1_1base_1_1Planner_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1base_1_1Planner_inherit__map" id="ompl_1_1base_1_1Planner_inherit__map">
<area shape="rect" id="node3" href="classompl_1_1control_1_1KPIECE1.html" title="Kinodynamic Planning by Interior-Exterior Cell Exploration." alt="" coords="221,5,384,35"/><area shape="rect" id="node5" href="classompl_1_1control_1_1RRT.html" title="Rapidly-exploring Random Tree." alt="" coords="236,59,369,88"/><area shape="rect" id="node7" href="classompl_1_1geometric_1_1BallTreeRRTstar.html" title="Optimal Rapidly-exploring Random Trees with Ball Trees." alt="" coords="192,112,413,141"/><area shape="rect" id="node9" href="classompl_1_1geometric_1_1BKPIECE1.html" title="Bi-directional KPIECE with one level of discretization." alt="" coords="208,165,397,195"/><area shape="rect" id="node11" href="classompl_1_1geometric_1_1EST.html" title="Expansive Space Trees." alt="" coords="228,219,377,248"/><area shape="rect" id="node13" href="classompl_1_1geometric_1_1KPIECE1.html" title="Kinematic Planning by Interior-Exterior Cell Exploration." alt="" coords="213,272,392,301"/><area shape="rect" id="node15" href="classompl_1_1geometric_1_1LazyRRT.html" title="Lazy RRT." alt="" coords="213,325,392,355"/><area shape="rect" id="node17" href="classompl_1_1geometric_1_1LBKPIECE1.html" title="Lazy Bi-directional KPIECE with one level of discretization." alt="" coords="205,379,400,408"/><area shape="rect" id="node19" href="classompl_1_1geometric_1_1PRM.html" title="Probabilistic RoadMap planner." alt="" coords="227,432,379,461"/><area shape="rect" id="node21" href="classompl_1_1geometric_1_1pRRT.html" title="Parallel RRT." alt="" coords="224,485,381,515"/><area shape="rect" id="node23" href="classompl_1_1geometric_1_1pSBL.html" title="Parallel Single-query Bi-directional Lazy collision checking planner." alt="" coords="225,539,380,568"/><area shape="rect" id="node25" href="classompl_1_1geometric_1_1RRT.html" title="Rapidly-exploring Random Trees." alt="" coords="228,592,377,621"/><area shape="rect" id="node27" href="classompl_1_1geometric_1_1RRTConnect.html" title="RRT-Connect (RRTConnect)" alt="" coords="203,645,403,675"/><area shape="rect" id="node29" href="classompl_1_1geometric_1_1RRTstar.html" title="Optimal Rapidly-exploring Random Trees." alt="" coords="216,699,389,728"/><area shape="rect" id="node31" href="classompl_1_1geometric_1_1SBL.html" title="Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking." alt="" coords="229,752,376,781"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1base_1_1Planner-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a404c3be95f77983e95a468e3a7032cc9"></a><!-- doxytag: member="ompl::base::Planner::Planner" ref="a404c3be95f77983e95a468e3a7032cc9" args="(const SpaceInformationPtr &si, const std::string &name)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#a404c3be95f77983e95a468e3a7032cc9">Planner</a> (const <a class="el" href="classompl_1_1base_1_1SpaceInformationPtr.html">SpaceInformationPtr</a> &si, const std::string &name)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2a927f469de8ed4800124b8647e90ff2"></a><!-- doxytag: member="ompl::base::Planner::~Planner" ref="a2a927f469de8ed4800124b8647e90ff2" args="(void)" -->
virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#a2a927f469de8ed4800124b8647e90ff2">~Planner</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">T * </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#a8bfc5a1bb13e225916d50efcb25babda">as</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cast this instance to a desired type. <a href="#a8bfc5a1bb13e225916d50efcb25babda"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">const T * </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#ad85a6b1b927e6ab39f60cb4f06d2e860">as</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cast this instance to a desired type. <a href="#ad85a6b1b927e6ab39f60cb4f06d2e860"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abd67578122e0570d660a4fed1e9c29f9"></a><!-- doxytag: member="ompl::base::Planner::getSpaceInformation" ref="abd67578122e0570d660a4fed1e9c29f9" args="(void) const " -->
const <a class="el" href="classompl_1_1base_1_1SpaceInformationPtr.html">SpaceInformationPtr</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#abd67578122e0570d660a4fed1e9c29f9">getSpaceInformation</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the space information this planner is using. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a36418059931204dbbd3a0dc148a6c560"></a><!-- doxytag: member="ompl::base::Planner::getProblemDefinition" ref="a36418059931204dbbd3a0dc148a6c560" args="(void) const " -->
const <a class="el" href="classompl_1_1base_1_1ProblemDefinitionPtr.html">ProblemDefinitionPtr</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#a36418059931204dbbd3a0dc148a6c560">getProblemDefinition</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the problem definition the planner is trying to solve. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa44f2bd4c2c9ded89c6d09df668ed28c"></a><!-- doxytag: member="ompl::base::Planner::getPlannerInputStates" ref="aa44f2bd4c2c9ded89c6d09df668ed28c" args="(void) const " -->
const <a class="el" href="classompl_1_1base_1_1PlannerInputStates.html">PlannerInputStates</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#aa44f2bd4c2c9ded89c6d09df668ed28c">getPlannerInputStates</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the planner input states. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="add968ea14f1aa3d3bffc110da3e1d031"></a><!-- doxytag: member="ompl::base::Planner::setProblemDefinition" ref="add968ea14f1aa3d3bffc110da3e1d031" args="(const ProblemDefinitionPtr &pdef)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#add968ea14f1aa3d3bffc110da3e1d031">setProblemDefinition</a> (const <a class="el" href="classompl_1_1base_1_1ProblemDefinitionPtr.html">ProblemDefinitionPtr</a> &pdef)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the problem definition for the planner. The problem needs to be set before calling <a class="el" href="classompl_1_1base_1_1Planner.html#acc87e95df04aa24ec52e24281c9fc223" title="Function that can solve the motion planning problem. This function can be called multiple times on th...">solve()</a>. Note: If this problem definition replaces a previous one, it may also be necessary to call <a class="el" href="classompl_1_1base_1_1Planner.html#a7e99408ada6e1572a14509fd566ae8b8" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">clear()</a>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acc87e95df04aa24ec52e24281c9fc223"></a><!-- doxytag: member="ompl::base::Planner::solve" ref="acc87e95df04aa24ec52e24281c9fc223" args="(const PlannerTerminationCondition &ptc)=0" -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#acc87e95df04aa24ec52e24281c9fc223">solve</a> (const <a class="el" href="classompl_1_1base_1_1PlannerTerminationCondition.html">PlannerTerminationCondition</a> &ptc)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Function that can solve the motion planning problem. This function can be called multiple times on the same problem, without calling <a class="el" href="classompl_1_1base_1_1Planner.html#a7e99408ada6e1572a14509fd566ae8b8" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">clear()</a> in between. This allows the planner to continue work more time on an unsolved problem, for example. If this option is used, it is assumed the problem definition is not changed (unpredictable results otherwise). The only change in the problem definition that is accounted for is the addition of starting or goal states (but not changing previously added start/goal states). The function terminates if the call to <em>ptc</em> returns true. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab5edcca68c6aaa965c30a69b38072b42"></a><!-- doxytag: member="ompl::base::Planner::solve" ref="ab5edcca68c6aaa965c30a69b38072b42" args="(const PlannerTerminationConditionFn &ptc, double checkInterval)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#ab5edcca68c6aaa965c30a69b38072b42">solve</a> (const <a class="el" href="namespaceompl_1_1base.html#a23037e2dfd720e4b1b7b4d1c6b09ba1d">PlannerTerminationConditionFn</a> &ptc, double checkInterval)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Same as above except the termination condition is only evaluated at a specified interval. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae081c3d8197b16aa87160cdccef4c012"></a><!-- doxytag: member="ompl::base::Planner::solve" ref="ae081c3d8197b16aa87160cdccef4c012" args="(double solveTime)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#ae081c3d8197b16aa87160cdccef4c012">solve</a> (double solveTime)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Same as above except the termination condition is solely a time limit: the number of seconds the algorithm is allowed to spend planning. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7e99408ada6e1572a14509fd566ae8b8"></a><!-- doxytag: member="ompl::base::Planner::clear" ref="a7e99408ada6e1572a14509fd566ae8b8" args="(void)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#a7e99408ada6e1572a14509fd566ae8b8">clear</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clear all internal datastructures. <a class="el" href="classompl_1_1base_1_1Planner.html" title="Base class for a planner.">Planner</a> settings are not affected. Subsequent calls to <a class="el" href="classompl_1_1base_1_1Planner.html#acc87e95df04aa24ec52e24281c9fc223" title="Function that can solve the motion planning problem. This function can be called multiple times on th...">solve()</a> will ignore all previous work. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afaaf08c87f8797803fbeb60771635ea5"></a><!-- doxytag: member="ompl::base::Planner::getPlannerData" ref="afaaf08c87f8797803fbeb60771635ea5" args="(PlannerData &data) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#afaaf08c87f8797803fbeb60771635ea5">getPlannerData</a> (<a class="el" href="classompl_1_1base_1_1PlannerData.html">PlannerData</a> &data) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get information about the current run of the motion planner. Repeated calls to this function will update <em>data</em> (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to <a class="el" href="classompl_1_1base_1_1Planner.html#acc87e95df04aa24ec52e24281c9fc223" title="Function that can solve the motion planning problem. This function can be called multiple times on th...">solve()</a>, for example (without calling <a class="el" href="classompl_1_1base_1_1Planner.html#a7e99408ada6e1572a14509fd566ae8b8" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">clear()</a> in between). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a79bac96f3b6f6e07c24f4b407054f8a3"></a><!-- doxytag: member="ompl::base::Planner::getName" ref="a79bac96f3b6f6e07c24f4b407054f8a3" args="(void) const " -->
const std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#a79bac96f3b6f6e07c24f4b407054f8a3">getName</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the name of the planner. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a99bb12c016b06563aab6bba5cdbed01e"></a><!-- doxytag: member="ompl::base::Planner::setName" ref="a99bb12c016b06563aab6bba5cdbed01e" args="(const std::string &name)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#a99bb12c016b06563aab6bba5cdbed01e">setName</a> (const std::string &name)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the name of the planner. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4bb041dbd7b894a46b71bda3a90f2273"></a><!-- doxytag: member="ompl::base::Planner::getSpecs" ref="a4bb041dbd7b894a46b71bda3a90f2273" args="(void) const " -->
const <a class="el" href="structompl_1_1base_1_1PlannerSpecs.html">PlannerSpecs</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#a4bb041dbd7b894a46b71bda3a90f2273">getSpecs</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return the specifications (capabilities of this planner) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a948cef726b875317e53ea0f21af40efc"></a><!-- doxytag: member="ompl::base::Planner::setup" ref="a948cef726b875317e53ea0f21af40efc" args="(void)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#a948cef726b875317e53ea0f21af40efc">setup</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Perform extra configuration steps, if needed. This call will also issue a call to <a class="el" href="classompl_1_1base_1_1SpaceInformation.html#ac39aa0c4b92e3ca5acfa75eeb56b080f" title="Perform additional setup tasks (run once, before use). If state validity checking resolution has not ...">ompl::base::SpaceInformation::setup()</a> if needed. This must be called before solving. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac28fad162751216095efed0f08fe1da9"></a><!-- doxytag: member="ompl::base::Planner::checkValidity" ref="ac28fad162751216095efed0f08fe1da9" args="(void)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#ac28fad162751216095efed0f08fe1da9">checkValidity</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check to see if the planner is in a working state (setup has been called, a goal was set, the input states seem to be in order). In case of error, this function throws an exception. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2e8966fccd27780c580fd80b89c3221e"></a><!-- doxytag: member="ompl::base::Planner::isSetup" ref="a2e8966fccd27780c580fd80b89c3221e" args="(void) const " -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#a2e8966fccd27780c580fd80b89c3221e">isSetup</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if <a class="el" href="classompl_1_1base_1_1Planner.html#a948cef726b875317e53ea0f21af40efc" title="Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...">setup()</a> was called for this planner. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa3ceb9471163b6c96f6eeadbcfd3694e"></a><!-- doxytag: member="ompl::base::Planner::si_" ref="aa3ceb9471163b6c96f6eeadbcfd3694e" args="" -->
<a class="el" href="classompl_1_1base_1_1SpaceInformationPtr.html">SpaceInformationPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The space information for which planning is done. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6bbb3dcc3d1604977e319d52c16ef7e5"></a><!-- doxytag: member="ompl::base::Planner::pdef_" ref="a6bbb3dcc3d1604977e319d52c16ef7e5" args="" -->
<a class="el" href="classompl_1_1base_1_1ProblemDefinitionPtr.html">ProblemDefinitionPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The user set problem definition. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1c6ac45d44026aae6df87f3295d67436"></a><!-- doxytag: member="ompl::base::Planner::pis_" ref="a1c6ac45d44026aae6df87f3295d67436" args="" -->
<a class="el" href="classompl_1_1base_1_1PlannerInputStates.html">PlannerInputStates</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Utility class to extract valid input states. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a806de82eeff9ef9231963a9851524b97"></a><!-- doxytag: member="ompl::base::Planner::name_" ref="a806de82eeff9ef9231963a9851524b97" args="" -->
std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#a806de82eeff9ef9231963a9851524b97">name_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The name of this planner. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4311ea7a0470f0e0f76cb1656d63e365"></a><!-- doxytag: member="ompl::base::Planner::specs_" ref="a4311ea7a0470f0e0f76cb1656d63e365" args="" -->
<a class="el" href="structompl_1_1base_1_1PlannerSpecs.html">PlannerSpecs</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365">specs_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The specifications of the planner (its capabilities) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adba44a4ee27079c5b258a2ebed719eed"></a><!-- doxytag: member="ompl::base::Planner::setup_" ref="adba44a4ee27079c5b258a2ebed719eed" args="" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#adba44a4ee27079c5b258a2ebed719eed">setup_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Flag indicating whether <a class="el" href="classompl_1_1base_1_1Planner.html#a948cef726b875317e53ea0f21af40efc" title="Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...">setup()</a> has been called. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3d9d2154392751bd02c542fcdd9279f1"></a><!-- doxytag: member="ompl::base::Planner::msg_" ref="a3d9d2154392751bd02c542fcdd9279f1" args="" -->
<a class="el" href="classompl_1_1msg_1_1Interface.html">msg::Interface</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html#a3d9d2154392751bd02c542fcdd9279f1">msg_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Console interface. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Base class for a planner. </p>
<p>Definition at line <a class="el" href="Planner_8h_source.html#l00223">223</a> of file <a class="el" href="Planner_8h_source.html">Planner.h</a>.</p>
</div><hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a8bfc5a1bb13e225916d50efcb25babda"></a><!-- doxytag: member="ompl::base::Planner::as" ref="a8bfc5a1bb13e225916d50efcb25babda" args="(void)" -->
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template<class T > </div>
<table class="memname">
<tr>
<td class="memname">T* ompl::base::Planner::as </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Cast this instance to a desired type. </p>
<p><p>Make sure the type we are casting to is indeed a planner </p>
</p>
<p>Definition at line <a class="el" href="Planner_8h_source.html#l00238">238</a> of file <a class="el" href="Planner_8h_source.html">Planner.h</a>.</p>
</div>
</div>
<a class="anchor" id="ad85a6b1b927e6ab39f60cb4f06d2e860"></a><!-- doxytag: member="ompl::base::Planner::as" ref="ad85a6b1b927e6ab39f60cb4f06d2e860" args="(void) const " -->
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template<class T > </div>
<table class="memname">
<tr>
<td class="memname">const T* ompl::base::Planner::as </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Cast this instance to a desired type. </p>
<p><p>Make sure the type we are casting to is indeed a <a class="el" href="classompl_1_1base_1_1Planner.html" title="Base class for a planner.">Planner</a> </p>
</p>
<p>Definition at line <a class="el" href="Planner_8h_source.html#l00248">248</a> of file <a class="el" href="Planner_8h_source.html">Planner.h</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/base/<a class="el" href="Planner_8h_source.html">Planner.h</a></li>
<li>src/ompl/base/src/<a class="el" href="Planner_8cpp_source.html">Planner.cpp</a></li>
</ul>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
<div class="gray">Generated on Sun Oct 9 2011 23:04:42 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div>
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