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PlannerData.cpp
67 const_cast<Control *>(static_cast<const PlannerDataEdgeControl *>(edgemapit.second)->getControl());
140const ompl::control::SpaceInformationPtr &ompl::control::PlannerData::getSpaceInformation() const
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition PlannerData.h:59
unsigned int vertexIndex(const PlannerDataVertex &v) const
Return the index for the vertex associated with the given data. INVALID_INDEX is returned if this ver...
Definition PlannerData.cpp:315
bool edgeExists(unsigned int v1, unsigned int v2) const
Check whether an edge between vertex index v1 and index v2 exists.
Definition PlannerData.cpp:188
virtual bool removeVertex(const PlannerDataVertex &st)
Removes the vertex associated with the given data. If the vertex does not exist, false is returned....
Definition PlannerData.cpp:473
unsigned int numVertices() const
Retrieve the number of vertices in this structure.
Definition PlannerData.cpp:202
virtual bool removeEdge(unsigned int v1, unsigned int v2)
Removes the edge between vertex indexes v1 and v2. Success is returned.
Definition PlannerData.cpp:540
unsigned int getEdges(unsigned int v, std::vector< unsigned int > &edgeList) const
Returns a list of the vertex indexes directly connected to vertex with index v (outgoing edges)....
Definition PlannerData.cpp:104
const PlannerDataEdge & getEdge(unsigned int v1, unsigned int v2) const
Retrieve a reference to the edge object connecting vertices with indexes v1 and v2....
Definition PlannerData.cpp:230
static const unsigned int INVALID_INDEX
Representation of an invalid vertex index.
Definition PlannerData.h:184
virtual void decoupleFromPlanner()
Creates a deep copy of the states contained in the vertices of this PlannerData structure so that whe...
Definition PlannerData.cpp:80
A shared pointer wrapper for ompl::base::SpaceInformation.
Representation of an edge in PlannerData for planning with controls. This structure encodes a specifi...
Definition PlannerData.h:61
const Control * getControl() const
Return the control associated with this edge.
Definition PlannerData.h:81
bool removeVertex(const base::PlannerDataVertex &st) override
Removes the vertex associated with the given data. If the vertex does not exist, false is returned....
Definition PlannerData.cpp:54
std::set< Control * > decoupledControls_
A list of controls that are allocated during the decoupleFromPlanner method. These controls are freed...
Definition PlannerData.h:167
PlannerData(const SpaceInformationPtr &siC)
Constructor. Accepts a SpaceInformationPtr for the space planned in.
Definition PlannerData.cpp:39
void decoupleFromPlanner() override
Creates a deep copy of the states contained in the vertices of this PlannerData structure so that whe...
Definition PlannerData.cpp:115
const SpaceInformationPtr & getSpaceInformation() const
Return the instance of SpaceInformation used in this PlannerData.
Definition PlannerData.cpp:140
bool hasControls() const override
Returns true if this PlannerData instance has controls associated with it.
Definition PlannerData.cpp:145
SpaceInformationPtr siC_
The instance of control::SpaceInformation associated with this data.
Definition PlannerData.h:164
bool removeEdge(unsigned int v1, unsigned int v2) override
Removes the edge between vertex indexes v1 and v2. Success is returned.
Definition PlannerData.cpp:79
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition SpaceInformation.h:71
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
STL namespace.