PlannerData.h
64 PlannerDataEdgeControl(const Control *c, double duration) : PlannerDataEdge(), c_(c), duration_(duration) {}
66 PlannerDataEdgeControl(const PlannerDataEdgeControl &rhs) : PlannerDataEdge(), c_(rhs.c_), duration_(rhs.duration_) {}
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
const SpaceInformationPtr & getSpaceInformation() const
Return the instance of SpaceInformation used in this PlannerData.
Definition: PlannerData.cpp:137
virtual base::PlannerDataEdge * clone() const
Return a clone of this object, allocated from the heap.
Definition: PlannerData.h:70
std::set< Control * > decoupledControls_
A list of controls that are allocated during the decoupleFromPlanner method. These controls are freed...
Definition: PlannerData.h:158
Representation of an edge in PlannerData for planning with controls. This structure encodes a specifi...
Definition: PlannerData.h:60
PlannerData(const SpaceInformationPtr &siC)
Constructor. Accepts a SpaceInformationPtr for the space planned in.
Definition: PlannerData.cpp:39
Definition: PlannerData.py:1
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:60
SpaceInformationPtr siC_
The instance of control::SpaceInformation associated with this data.
Definition: PlannerData.h:155
PlannerDataEdgeControl(const Control *c, double duration)
Constructor. Accepts a control pointer and a duration.
Definition: PlannerData.h:64
virtual bool hasControls() const
Returns true if this PlannerData instance has controls associated with it.
Definition: PlannerData.cpp:142
virtual bool removeVertex(const base::PlannerDataVertex &st)
Removes the vertex associated with the given data. If the vertex does not exist, false is returned...
Definition: PlannerData.cpp:53
A boost shared pointer wrapper for ompl::control::SpaceInformation.
virtual bool removeEdge(unsigned int v1, unsigned int v2)
Removes the edge between vertex indexes v1 and v2. Success is returned.
Definition: PlannerData.cpp:77
const Control * getControl() const
Return the control associated with this edge.
Definition: PlannerData.h:76
double getDuration() const
Return the duration associated with this edge.
Definition: PlannerData.h:78
PlannerDataEdgeControl(const PlannerDataEdgeControl &rhs)
Copy constructor.
Definition: PlannerData.h:66
virtual void decoupleFromPlanner()
Creates a deep copy of the states contained in the vertices of this PlannerData structure so that whe...
Definition: PlannerData.cpp:112