ompl::control::PlannerData Class Reference
This class assumes edges are derived from PlannerDataEdgeControl. If this is not the case, see base::PlannerData. More...
#include <ompl/control/PlannerData.h>
Inheritance diagram for ompl::control::PlannerData:

Public Member Functions | |
PlannerData (const SpaceInformationPtr &siC) | |
Constructor. Accepts a SpaceInformationPtr for the space planned in. | |
virtual | ~PlannerData () |
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 () |
Clears the entire data structure. | |
virtual void | decoupleFromPlanner () |
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 () const |
Return the instance of SpaceInformation used in this PlannerData. | |
virtual bool | hasControls () 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. |
Detailed Description
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.
- Note:
- The storage for states this class maintains belongs to the planner instance that filled the data (by default; see PlannerData::decoupleFromPlanner())
Definition at line 111 of file PlannerData.h.
Member Function Documentation
void ompl::control::PlannerData::decoupleFromPlanner | ( | ) | [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.
- Remarks:
- Shallow state pointers inside of the PlannerDataVertex objects already in this PlannerData will be replaced with clones which are scoped to this PlannerData object. A subsequent call to this method is necessary after any other vertices are added to ensure that this PlannerData instance is fully decoupled.
Reimplemented from base::PlannerData.
Definition at line 112 of file PlannerData.cpp.
The documentation for this class was generated from the following files:
- ompl/control/PlannerData.h
- ompl/control/src/PlannerData.cpp