PlannerData.h
316 unsigned int getEdges(unsigned int v, std::map<unsigned int, const PlannerDataEdge*> &edgeMap) const;
323 unsigned int getIncomingEdges(unsigned int v, std::map<unsigned int, const PlannerDataEdge*> &edgeMap) const;
Object that handles loading/storing a PlannerData object to/from a binary stream. Serialization of ve...
Definition: PlannerDataStorage.h:79
Manage loading and storing for a set of states of a specified state space.
Definition: StateStorage.h:61
Wrapper class for the Boost.Graph representation of the PlannerData. This class inherits from a boost...
Definition: PlannerDataGraph.h:65
std::vector< unsigned int > startVertexIndices_
A mutable listing of the vertices marked as start states. Stored in sorted order. ...
Definition: PlannerData.h:400
int tag_
A generic integer tag for this state. Not used for equivalence checking.
Definition: PlannerData.h:110
PlannerDataVertex(const State *st, int tag=0)
Constructor. Takes a state pointer and an optional integer tag.
Definition: PlannerData.h:64
std::vector< unsigned int > goalVertexIndices_
A mutable listing of the vertices marked as goal states. Stored in sorted order.
Definition: PlannerData.h:402
Definition: PlannerData.py:1
std::set< State * > decoupledStates_
A list of states that are allocated during the decoupleFromPlanner method. These states are freed by ...
Definition: PlannerData.h:408
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:60
bool operator!=(const PlannerDataVertex &rhs) const
Returns true if this vertex is not equal to the argument. This is the complement of the == operator...
Definition: PlannerData.h:91
A boost shared pointer wrapper for ompl::base::SpaceInformation.
virtual PlannerDataEdge * clone() const
Return a clone of this object, allocated from the heap.
Definition: PlannerData.h:123
static const PlannerDataVertex NO_VERTEX
Representation for a non-existant vertex.
Definition: PlannerData.h:172
Abstract definition of optimization objectives.
Definition: OptimizationObjective.h:66
static const unsigned int INVALID_INDEX
Representation of an invalid vertex index.
Definition: PlannerData.h:174
virtual int getTag() const
Returns the integer tag associated with this vertex.
Definition: PlannerData.h:70
virtual void setTag(int tag)
Set the integer tag associated with this vertex.
Definition: PlannerData.h:72
std::map< const State *, unsigned int > stateIndexMap_
A mapping of states to vertex indexes. For fast lookup of vertex index.
Definition: PlannerData.h:398
virtual PlannerDataVertex * clone() const
Return a clone of this object, allocated from the heap.
Definition: PlannerData.h:77
virtual bool operator==(const PlannerDataEdge &rhs) const
Returns true if the edges point to the same memory.
Definition: PlannerData.h:126
virtual const State * getState() const
Retrieve the state associated with this vertex.
Definition: PlannerData.h:74
virtual bool operator==(const PlannerDataVertex &rhs) const
Equivalence operator. Return true if the state pointers are equal.
Definition: PlannerData.h:83
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
static const PlannerDataEdge NO_EDGE
Representation for a non-existant edge.
Definition: PlannerData.h:167
std::map< std::string, std::string > properties
Any extra properties (key-value pairs) the planner can set.
Definition: PlannerData.h:394
bool operator!=(const PlannerDataEdge &rhs) const
Returns true if the edges do not point to the same memory. This is the complement of the == operator...
Definition: PlannerData.h:133