10 : start_(planner->getConfigurationSpace()->
size()),
11 goal_ (planner->getConfigurationSpace()->
size()),
12 isRunning_(false), planner_(planner), verbose_(false)
29 std::map<std::string, std::string>::const_iterator it;
30 it = properties.begin();
31 while (it != properties.end()) {
38 std::vector<std::string> &values) {
42 std::map<std::string, std::string>::iterator it;
45 names.push_back((*it).first);
46 values.push_back((*it).second);
70 std::map<std::string, std::string>::iterator it;
72 std::cout <<
"properties:" << std::endl;
74 std::cout <<
" " << it->first <<
" = " << it->second << std::endl;
77 std::cout << std::endl;
82 std::cout <<
"start:" <<
start_ << std::endl;
83 std::cout <<
"goal:" <<
goal_ << std::endl;
88 std::cerr <<
"start configuration is invalid" << std::endl;
92 const std::pair<std::string, std::string> &pair
94 std::cerr <<
"start configuration is not collision-free("
95 << pair.first <<
"<->" << pair.second <<
")" << std::endl;
99 std::cerr <<
"goal configuration is invalid" << std::endl;
103 const std::pair<std::string, std::string> &pair
105 std::cerr <<
"goal configuration is not collision-free("
106 << pair.first <<
"<->" << pair.second <<
")" << std::endl;
112 std::cerr <<
"goal is not reachable even if collision is not checked"