This class assumes edges are derived from PlannerDataEdgeControl. If this is not the case, see base::PlannerData. More...
#include <PlannerData.h>
Public Member Functions | |
PlannerData (const SpaceInformationPtr &siC) | |
Constructor. Accepts a SpaceInformationPtr for the space planned in. | |
virtual | ~PlannerData (void) |
Destructor. | |
virtual bool | removeVertex (const base::PlannerDataVertex &st) |
Removes the vertex associated with the given data. If the vertex does not exist, false is returned. This method has O(n) complexity in the number of vertices. | |
virtual bool | removeVertex (unsigned int vIndex) |
Removes the vertex with the given index. If the index is out of range, false is returned. This method has O(n) complexity in the number of vertices. | |
virtual bool | removeEdge (unsigned int v1, unsigned int v2) |
Removes the edge between vertex indexes v1 and v2. Success is returned. | |
virtual bool | removeEdge (const base::PlannerDataVertex &v1, const base::PlannerDataVertex &v2) |
Removes the edge between the vertices associated with the given vertex data. Success is returned. | |
virtual void | clear (void) |
Clears the entire data structure. | |
virtual void | decoupleFromPlanner (void) |
Creates a deep copy of the states contained in the vertices of this PlannerData structure so that when the planner that created this instance goes out of scope, all data remains intact. | |
const SpaceInformationPtr & | getSpaceInformation (void) const |
Return the instance of SpaceInformation used in this PlannerData. | |
virtual bool | hasControls (void) const |
Returns true if this PlannerData instance has controls associated with it. | |
Protected Attributes | |
SpaceInformationPtr | siC_ |
The instance of control::SpaceInformation associated with this data. | |
std::set< Control * > | decoupledControls_ |
A list of controls that are allocated during the decoupleFromPlanner method. These controls are freed by PlannerData in the destructor. |
This class assumes edges are derived from PlannerDataEdgeControl. If this is not the case, see base::PlannerData.
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique, and only a single directed edge connects two vertices.
Definition at line 111 of file PlannerData.h.
void ompl::control::PlannerData::decoupleFromPlanner | ( | void | ) | [virtual] |
Creates a deep copy of the states contained in the vertices of this PlannerData structure so that when the planner that created this instance goes out of scope, all data remains intact.
Reimplemented from ompl::base::PlannerData.
Definition at line 112 of file PlannerData.cpp.