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PlannerDataVertexAnnotated.cpp
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35
36/* Author: Andreas Orthey */
37#include <ompl/geometric/planners/quotientspace/datastructures/PlannerDataVertexAnnotated.h>
38
39ompl::base::PlannerDataVertexAnnotated::PlannerDataVertexAnnotated(const State *st, int tag)
40 : PlannerDataVertex(st, tag)
41{
42}
43
44ompl::base::PlannerDataVertexAnnotated::PlannerDataVertexAnnotated(const PlannerDataVertexAnnotated &rhs)
45 : PlannerDataVertex(rhs.state_, rhs.tag_)
46{
47 level_ = rhs.getLevel();
48 maxLevel_ = rhs.getMaxLevel();
49 component_ = rhs.getComponent();
50 path_ = rhs.getPath();
51 stateQuotientSpace_ = rhs.getQuotientState();
52}
53
58
59void ompl::base::PlannerDataVertexAnnotated::setComponent(unsigned int component)
60{
61 component_ = component;
62}
63
64unsigned int ompl::base::PlannerDataVertexAnnotated::getComponent() const
65{
66 return component_;
67}
68
69void ompl::base::PlannerDataVertexAnnotated::setLevel(unsigned int level)
70{
71 level_ = level;
72}
73
74unsigned int ompl::base::PlannerDataVertexAnnotated::getLevel() const
75{
76 return level_;
77}
78
79void ompl::base::PlannerDataVertexAnnotated::setMaxLevel(unsigned int level)
80{
81 maxLevel_ = level;
82}
83
84unsigned int ompl::base::PlannerDataVertexAnnotated::getMaxLevel() const
85{
86 return maxLevel_;
87}
88
89void ompl::base::PlannerDataVertexAnnotated::setPath(std::vector<int> path)
90{
91 path_ = path;
92}
93
94std::vector<int> ompl::base::PlannerDataVertexAnnotated::getPath() const
95{
96 return path_;
97}
98
100{
101 return state_;
102}
103
104const ompl::base::State *ompl::base::PlannerDataVertexAnnotated::getQuotientState() const
105{
106 return stateQuotientSpace_;
107}
108
109void ompl::base::PlannerDataVertexAnnotated::setQuotientState(const State *s)
110{
111 stateQuotientSpace_ = s;
112}
113
114void ompl::base::PlannerDataVertexAnnotated::setState(State *s)
115{
116 state_ = s;
117}
118
120{
121 return (lhs.getLevel() == rhs.getLevel() && lhs.getState() == rhs.getState() && lhs.getPath() == rhs.getPath());
122}
123
124std::ostream &operator<<(std::ostream &out, const ompl::base::PlannerDataVertexAnnotated &v)
125{
126 out << "AnnotatedVertex";
127 out << " ->level " << v.getLevel() << "/" << v.getMaxLevel();
128 out << " ->component " << v.getComponent();
129 out << std::endl;
130 return out;
131}
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 PlannerData.h:59
Definition of an abstract state.
Definition State.h:50
std::ostream & operator<<(std::ostream &stream, Cost c)
Output operator for Cost.
Definition Cost.cpp:39