public virtual void setProblemDefinition(ProblemDefinition pdef)
{
ompl_basePINVOKE.Planner_setProblemDefinition(swigCPtr, ProblemDefinition.getCPtr(pdef));
if (ompl_basePINVOKE.SWIGPendingException.Pending)
{
throw ompl_basePINVOKE.SWIGPendingException.Retrieve();
}
}
public bool use(ProblemDefinition pdef)
{
bool ret = ompl_basePINVOKE.PlannerInputStates_use__SWIG_0(swigCPtr, ProblemDefinition.getCPtr(pdef));
if (ompl_basePINVOKE.SWIGPendingException.Pending)
{
throw ompl_basePINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual SWIGTYPE_p_std__shared_ptrT_ompl__base__InformedSampler_t allocInformedStateSampler(ProblemDefinition probDefn, uint maxNumberCalls)
{
SWIGTYPE_p_std__shared_ptrT_ompl__base__InformedSampler_t ret = new SWIGTYPE_p_std__shared_ptrT_ompl__base__InformedSampler_t(ompl_basePINVOKE.OptimizationObjective_allocInformedStateSampler(swigCPtr, ProblemDefinition.getCPtr(probDefn), maxNumberCalls), true);
if (ompl_basePINVOKE.SWIGPendingException.Pending)
{
throw ompl_basePINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public InformedStateSampler(ProblemDefinition probDefn, SWIGTYPE_p_std__functionT_ompl__base__Cost_fF_t costFunc, SWIGTYPE_p_std__shared_ptrT_ompl__base__InformedSampler_t infSampler) : this(ompl_basePINVOKE.new_InformedStateSampler__SWIG_1(ProblemDefinition.getCPtr(probDefn), SWIGTYPE_p_std__functionT_ompl__base__Cost_fF_t.getCPtr(costFunc), SWIGTYPE_p_std__shared_ptrT_ompl__base__InformedSampler_t.getCPtr(infSampler)), true)
{
if (ompl_basePINVOKE.SWIGPendingException.Pending)
{
throw ompl_basePINVOKE.SWIGPendingException.Retrieve();
}
}
public InformedStateSampler(ProblemDefinition probDefn, uint maxNumberCalls, SWIGTYPE_p_std__functionT_ompl__base__Cost_fF_t costFunc) : this(ompl_basePINVOKE.new_InformedStateSampler__SWIG_0(ProblemDefinition.getCPtr(probDefn), maxNumberCalls, SWIGTYPE_p_std__functionT_ompl__base__Cost_fF_t.getCPtr(costFunc)), true)
{
if (ompl_basePINVOKE.SWIGPendingException.Pending)
{
throw ompl_basePINVOKE.SWIGPendingException.Retrieve();
}
}
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);
}