Class PlannerDataEdgeControl

Inheritance Relationships

Base Type

Class Documentation

class PlannerDataEdgeControl : public ompl::base::PlannerDataEdge

Representation of an edge in PlannerData for planning with controls. This structure encodes a specific control and a duration to apply the control.

Remark

If using PlannerDataEdgeControl in conjunction with PlannerDataStorage, (i.e., storing the PlannerData from a controls planner) you must export a GUID for PlannerDataEdgeControl so that the serializer can identify the derived edge class: 

#include <boost/serialization/export.hpp>
...
BOOST_CLASS_EXPORT(ompl::control::PlannerDataEdgeControl);

Public Functions

inline PlannerDataEdgeControl(const Control *c, double duration)

Constructor. Accepts a control pointer and a duration.

inline PlannerDataEdgeControl(const PlannerDataEdgeControl &rhs)

Copy constructor.

~PlannerDataEdgeControl() override = default
inline virtual base::PlannerDataEdge *clone() const override

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

inline const Control *getControl() const

Return the control associated with this edge.

inline double getDuration() const

Return the duration associated with this edge.

inline bool operator==(const PlannerDataEdge &rhs) const override

Protected Functions

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

Protected Attributes

const Control *c_ = {nullptr}
double duration_

Friends

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