Class PlannerDataVertex

Inheritance Relationships

Derived Type

Class Documentation

class PlannerDataVertex

Base class for a vertex in the PlannerData structure. All derived classes must implement the clone and equivalence operators. It is assumed that each vertex in the PlannerData structure is unique (i.e. no duplicates allowed).

Subclassed by ompl::multilevel::PlannerDataVertexAnnotated

Public Functions

inline PlannerDataVertex(const State *st, int tag = 0)

Constructor. Takes a state pointer and an optional integer tag.

PlannerDataVertex(const PlannerDataVertex &rhs) = default

Copy constructor.

virtual ~PlannerDataVertex() = default
inline virtual int getTag() const

Returns the integer tag associated with this vertex.

inline virtual void setTag(int tag)

Set the integer tag associated with this vertex.

inline virtual const State *getState() const

Retrieve the state associated with this vertex.

inline virtual PlannerDataVertex *clone() const

Return a clone of this object, allocated from the heap.

inline virtual bool operator==(const PlannerDataVertex &rhs) const

Equivalence operator. Return true if the state pointers are equal.

inline bool operator!=(const PlannerDataVertex &rhs) const

Returns true if this vertex is not equal to the argument. This is the complement of the == operator.

Protected Functions

PlannerDataVertex() = default
template<class Archive>
inline void serialize(Archive &ar, const unsigned int)

Protected Attributes

const State *state_

The state represented by this vertex.

int tag_

A generic integer tag for this state. Not used for equivalence checking.

Friends

friend class boost::serialization::access
friend class PlannerData
friend class PlannerDataStorage