personalrobotics/or_ompl — pull request #15 by mkoval (2014-12-23 18:10:52+00:00)
Title: Call PlannerCallback's from OMPLSimplifier

This is similar to the pending support for anytime planners #7, but for the path simplifier. The user can terminate planning early by registering a planner callback that returns `PA_Interrupt` or `PA_ReturnWithAnySolution`.