public void simplifySolution(PlannerTerminationCondition ptc)
{
ompl_geometricPINVOKE.SimpleSetup_simplifySolution__SWIG_2(swigCPtr, PlannerTerminationCondition.getCPtr(ptc));
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual PlannerStatus solve(PlannerTerminationCondition ptc)
{
PlannerStatus ret = new PlannerStatus(ompl_geometricPINVOKE.SimpleSetup_solve__SWIG_2(swigCPtr, PlannerTerminationCondition.getCPtr(ptc)), true);
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public override PlannerStatus solve(PlannerTerminationCondition ptc)
{
PlannerStatus ret = new PlannerStatus(ompl_geometricPINVOKE.RRTstar_solve(swigCPtr, PlannerTerminationCondition.getCPtr(ptc)), true);
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public static PlannerTerminationCondition plannerAndTerminationCondition(PlannerTerminationCondition c1, PlannerTerminationCondition c2)
{
PlannerTerminationCondition ret = new PlannerTerminationCondition(ompl_basePINVOKE.plannerAndTerminationCondition(PlannerTerminationCondition.getCPtr(c1), PlannerTerminationCondition.getCPtr(c2)), true);
if (ompl_basePINVOKE.SWIGPendingException.Pending)
{
throw ompl_basePINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public static PlannerTerminationCondition exactSolnPlannerTerminationCondition(ProblemDefinition pdef)
{
PlannerTerminationCondition ret = new PlannerTerminationCondition(ompl_basePINVOKE.exactSolnPlannerTerminationCondition(ProblemDefinition.getCPtr(pdef)), true);
if (ompl_basePINVOKE.SWIGPendingException.Pending)
{
throw ompl_basePINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public static PlannerTerminationCondition plannerAlwaysTerminatingCondition()
{
PlannerTerminationCondition ret = new PlannerTerminationCondition(ompl_basePINVOKE.plannerAlwaysTerminatingCondition(), true);
if (ompl_basePINVOKE.SWIGPendingException.Pending)
{
throw ompl_basePINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public static PlannerTerminationCondition timedPlannerTerminationCondition(double duration, double interval)
{
PlannerTerminationCondition ret = new PlannerTerminationCondition(ompl_basePINVOKE.timedPlannerTerminationCondition__SWIG_2(duration, interval), true);
if (ompl_basePINVOKE.SWIGPendingException.Pending)
{
throw ompl_basePINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public static PlannerTerminationCondition timedPlannerTerminationCondition(SWIGTYPE_p_std__chrono__system_clock__duration duration)
{
PlannerTerminationCondition ret = new PlannerTerminationCondition(ompl_basePINVOKE.timedPlannerTerminationCondition__SWIG_1(SWIGTYPE_p_std__chrono__system_clock__duration.getCPtr(duration)), true);
if (ompl_basePINVOKE.SWIGPendingException.Pending)
{
throw ompl_basePINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public bool findBetterGoal(PathGeometric path, PlannerTerminationCondition ptc)
{
bool ret = ompl_geometricPINVOKE.PathSimplifier_findBetterGoal__SWIG_7(swigCPtr, PathGeometric.getCPtr(path), PlannerTerminationCondition.getCPtr(ptc));
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public bool findBetterGoal(PathGeometric path, PlannerTerminationCondition ptc, uint samplingAttempts, double rangeRatio)
{
bool ret = ompl_geometricPINVOKE.PathSimplifier_findBetterGoal__SWIG_5(swigCPtr, PathGeometric.getCPtr(path), PlannerTerminationCondition.getCPtr(ptc), samplingAttempts, rangeRatio);
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public bool simplify(PathGeometric path, PlannerTerminationCondition ptc, bool atLeastOnce)
{
bool ret = ompl_geometricPINVOKE.PathSimplifier_simplify__SWIG_2(swigCPtr, PathGeometric.getCPtr(path), PlannerTerminationCondition.getCPtr(ptc), atLeastOnce);
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public State nextGoal(PlannerTerminationCondition ptc)
{
global::System.IntPtr cPtr = ompl_basePINVOKE.PlannerInputStates_nextGoal__SWIG_0(swigCPtr, PlannerTerminationCondition.getCPtr(ptc));
State ret = (cPtr == global::System.IntPtr.Zero) ? null : new State(cPtr, false);
if (ompl_basePINVOKE.SWIGPendingException.Pending)
{
throw ompl_basePINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(PlannerTerminationCondition obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
