37#include <ompl/geometric/planners/quotientspace/datastructures/PlannerDataVertexAnnotated.h>
39ompl::base::PlannerDataVertexAnnotated::PlannerDataVertexAnnotated(
const State *st,
int tag)
40 : PlannerDataVertex(st, tag)
44ompl::base::PlannerDataVertexAnnotated::PlannerDataVertexAnnotated(
const PlannerDataVertexAnnotated &rhs)
45 : PlannerDataVertex(rhs.state_, rhs.tag_)
47 level_ = rhs.getLevel();
48 maxLevel_ = rhs.getMaxLevel();
49 component_ = rhs.getComponent();
50 path_ = rhs.getPath();
51 stateQuotientSpace_ = rhs.getQuotientState();
59void ompl::base::PlannerDataVertexAnnotated::setComponent(
unsigned int component)
61 component_ = component;
64unsigned int ompl::base::PlannerDataVertexAnnotated::getComponent()
const
69void ompl::base::PlannerDataVertexAnnotated::setLevel(
unsigned int level)
74unsigned int ompl::base::PlannerDataVertexAnnotated::getLevel()
const
79void ompl::base::PlannerDataVertexAnnotated::setMaxLevel(
unsigned int level)
84unsigned int ompl::base::PlannerDataVertexAnnotated::getMaxLevel()
const
89void ompl::base::PlannerDataVertexAnnotated::setPath(std::vector<int> path)
94std::vector<int> ompl::base::PlannerDataVertexAnnotated::getPath()
const
104const ompl::base::State *ompl::base::PlannerDataVertexAnnotated::getQuotientState()
const
106 return stateQuotientSpace_;
109void ompl::base::PlannerDataVertexAnnotated::setQuotientState(
const State *s)
111 stateQuotientSpace_ = s;
114void ompl::base::PlannerDataVertexAnnotated::setState(State *s)
121 return (lhs.getLevel() == rhs.getLevel() && lhs.
getState() == rhs.
getState() && lhs.getPath() == rhs.getPath());
126 out <<
"AnnotatedVertex";
127 out <<
" ->level " << v.getLevel() <<
"/" << v.getMaxLevel();
128 out <<
" ->component " << v.getComponent();
An annotated vertex, adding information about its level in the quotient-space hiearchy,...
virtual const ompl::base::State * getState() const override
Retrieve the state associated with this vertex.
virtual PlannerDataVertex * clone() const override
Return a clone of this object, allocated from the heap.
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition of an abstract state.
std::ostream & operator<<(std::ostream &stream, Cost c)
Output operator for Cost.