CompositePlanner.hpp

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#ifndef AIKIDO_PLANNER_COMPOSITEPLANNER_HPP_
#define AIKIDO_PLANNER_COMPOSITEPLANNER_HPP_
 
#include <vector>
 
#include "aikido/planner/Planner.hpp"
#include "aikido/statespace/StateSpace.hpp"
 
namespace aikido {
namespace planner {
 
AIKIDO_DECLARE_POINTERS(CompositePlanner)
 
class CompositePlanner : public Planner
{
public:
  CompositePlanner(
      statespace::ConstStateSpacePtr stateSpace,
      const std::vector<PlannerPtr>& planners = std::vector<PlannerPtr>());
 
  bool hasPlanner(const Planner& planner) const;
 
  // Documentation inherited.
  bool canSolve(const Problem& problem) const override;
 
protected:
  const std::vector<PlannerPtr> mPlanners;
  // We use std::vector to keep the order of planners. This is because some
  // concrete planners rely on the order. Alternatively, we could remove
  // mPlanners from here and let the concrete classes maintain the planner
  // containers accordingly. In that case, we should also remove getPlanner and
  // make addPlanner/hasPlanner/getPlanners as pure virtual functions.
};
 
} // namespace planner
} // namespace aikido
 
#endif // AIKIDO_PLANNER_COMPOSITEPLANNER_HPP_