PlannerData.h
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:59
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
A shared pointer wrapper for ompl::base::SpaceInformation.
Representation of an edge in PlannerData for planning with controls. This structure encodes a specifi...
Definition: PlannerData.h:61
base::PlannerDataEdge * clone() const override
Return a clone of this object, allocated from the heap.
Definition: PlannerData.h:75
const Control * getControl() const
Return the control associated with this edge.
Definition: PlannerData.h:81
double getDuration() const
Return the duration associated with this edge.
Definition: PlannerData.h:86
PlannerDataEdgeControl(const PlannerDataEdgeControl &rhs)
Copy constructor.
Definition: PlannerData.h:68
PlannerDataEdgeControl(const Control *c, double duration)
Constructor. Accepts a control pointer and a duration.
Definition: PlannerData.h:64
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:122
bool removeVertex(const base::PlannerDataVertex &st) override
Removes the vertex associated with the given data. If the vertex does not exist, false is returned....
Definition: PlannerData.cpp:54
std::set< Control * > decoupledControls_
A list of controls that are allocated during the decoupleFromPlanner method. These controls are freed...
Definition: PlannerData.h:167
PlannerData(const SpaceInformationPtr &siC)
Constructor. Accepts a SpaceInformationPtr for the space planned in.
Definition: PlannerData.cpp:39
void decoupleFromPlanner() override
Creates a deep copy of the states contained in the vertices of this PlannerData structure so that whe...
Definition: PlannerData.cpp:115
const SpaceInformationPtr & getSpaceInformation() const
Return the instance of SpaceInformation used in this PlannerData.
Definition: PlannerData.cpp:140
bool hasControls() const override
Returns true if this PlannerData instance has controls associated with it.
Definition: PlannerData.cpp:145
SpaceInformationPtr siC_
The instance of control::SpaceInformation associated with this data.
Definition: PlannerData.h:164
bool removeEdge(unsigned int v1, unsigned int v2) override
Removes the edge between vertex indexes v1 and v2. Success is returned.
Definition: PlannerData.cpp:79
Main namespace. Contains everything in this library.
Definition: ConstrainedSpaceInformation.h:53