PlannerData.cpp
39 ompl::control::PlannerData::PlannerData(const SpaceInformationPtr &siC) : base::PlannerData(boost::static_pointer_cast<base::SpaceInformation>(siC)), siC_(siC)
62 for (std::map<unsigned int, const base::PlannerDataEdge*>::iterator edgemapit = edgeMap.begin(); edgemapit != edgeMap.end(); ++edgemapit)
65 Control *ctrl = const_cast<Control*>(static_cast<const PlannerDataEdgeControl*>(edgemapit->second)->getControl());
82 bool ompl::control::PlannerData::removeEdge (const ompl::base::PlannerDataVertex &v1, const ompl::base::PlannerDataVertex &v2)
137 const ompl::control::SpaceInformationPtr& ompl::control::PlannerData::getSpaceInformation() const
149 for (std::set<Control*>::iterator it = decoupledControls_.begin(); it != decoupledControls_.end(); ++it)
virtual void decoupleFromPlanner()
Creates a deep copy of the states contained in the vertices of this PlannerData structure so that whe...
Definition: PlannerData.cpp:84
std::set< Control * > decoupledControls_
A list of controls that are allocated during the decoupleFromPlanner method. These controls are freed...
Definition: PlannerData.h:158
unsigned int vertexIndex(const PlannerDataVertex &v) const
Return the index for the vertex associated with the given data. INVALID_INDEX is returned if this ver...
Definition: PlannerData.cpp:328
unsigned int numVertices() const
Retrieve the number of vertices in this structure.
Definition: PlannerData.cpp:203
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
const PlannerDataEdge & getEdge(unsigned int v1, unsigned int v2) const
Retrieve a reference to the edge object connecting vertices with indexes v1 and v2. If this edge does not exist, NO_EDGE is returned.
Definition: PlannerData.cpp:231
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
virtual bool removeVertex(const PlannerDataVertex &st)
Removes the vertex associated with the given data. If the vertex does not exist, false is returned...
Definition: PlannerData.cpp:484
const SpaceInformationPtr & getSpaceInformation() const
Return the instance of SpaceInformation used in this PlannerData.
Definition: PlannerData.cpp:137
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 hasControls() const
Returns true if this PlannerData instance has controls associated with it.
Definition: PlannerData.cpp:142
const Control * getControl() const
Return the control associated with this edge.
Definition: PlannerData.h:76
static const unsigned int INVALID_INDEX
Representation of an invalid vertex index.
Definition: PlannerData.h:174
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
bool edgeExists(unsigned int v1, unsigned int v2) const
Check whether an edge between vertex index v1 and index v2 exists.
Definition: PlannerData.cpp:189
unsigned int getEdges(unsigned int v, std::vector< unsigned int > &edgeList) const
Returns a list of the vertex indexes directly connected to vertex with index v (outgoing edges)...
Definition: PlannerData.cpp:108
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:69
virtual bool removeEdge(unsigned int v1, unsigned int v2)
Removes the edge between vertex indexes v1 and v2. Success is returned.
Definition: PlannerData.cpp:549
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