ompl::base::PlannerData Class Reference

Datatype holding data a planner can expose for debug purposes. More...

#include <PlannerData.h>

List of all members.

Public Member Functions
void	clear (void)
	Clear any stored data.
	PlannerData (void)
virtual void	print (std::ostream &out=std::cout) const
	Print this data to a stream.
void	recordEdge (const State *s1, const State *s2)
	Record an edge between two states. This function is called by planners to fill states, stateIndex and edges. If the same state/edge is seen multiple times, it is added only once.
void	tagState (const State *s, int tag)
	Assign a tag to a state.
virtual	~PlannerData (void)
Public Attributes
std::vector< std::vector < unsigned int > >	edges
	For each i, edges[i] contains the values edges[i][j] such that states[i] connects to every states[edges[i][j]].
std::map< std::string, std::string >	properties
	Any extra properties (key-value pairs) the planner can set.
SpaceInformationPtr	si
	The space information containing the states of the exploration datastructure.
std::map< const State *, unsigned int >	stateIndex
	The same list of states as above, provided for convenience, in a manner that allows finding out a state's index from its pointer value.
std::vector< const State * >	states
	The list of states in the current exploration datastructure.
std::vector< int >	tags
	For every state, a tag may be associated by the planner. For example, a bi-directional planner may assign one tag for states in the start tree and another for states in the goal tree. By default the tag has value 0.

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Detailed Description

Datatype holding data a planner can expose for debug purposes.

Definition at line 52 of file PlannerData.h.

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Constructor & Destructor Documentation

ompl::base::PlannerData::PlannerData

(

void

)

[inline]

Definition at line 55 of file PlannerData.h.

virtual ompl::base::PlannerData::~PlannerData

(

void

)

[inline, virtual]

Definition at line 59 of file PlannerData.h.

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Member Function Documentation

void ompl::base::PlannerData::clear

(

void

)

Clear any stored data.

virtual void ompl::base::PlannerData::print

(

std::ostream &

out = std::cout

)

const [virtual]

Print this data to a stream.

void ompl::base::PlannerData::recordEdge	(	const State *	s1,
		const State *	s2
	)

Record an edge between two states. This function is called by planners to fill states, stateIndex and edges. If the same state/edge is seen multiple times, it is added only once.

void ompl::base::PlannerData::tagState	(	const State *	s,
		int	tag
	)

Assign a tag to a state.

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Member Data Documentation

std::vector< std::vector<unsigned int> > ompl::base::PlannerData::edges

For each i, edges[i] contains the values edges[i][j] such that states[i] connects to every states[edges[i][j]].

Definition at line 93 of file PlannerData.h.

std::map<std::string, std::string> ompl::base::PlannerData::properties

Any extra properties (key-value pairs) the planner can set.

Definition at line 96 of file PlannerData.h.

SpaceInformationPtr ompl::base::PlannerData::si

The space information containing the states of the exploration datastructure.

Definition at line 79 of file PlannerData.h.

std::map< const State *, unsigned int > ompl::base::PlannerData::stateIndex

The same list of states as above, provided for convenience, in a manner that allows finding out a state's index from its pointer value.

Definition at line 90 of file PlannerData.h.

std::vector< const State* > ompl::base::PlannerData::states

The list of states in the current exploration datastructure.

Definition at line 82 of file PlannerData.h.

std::vector< int > ompl::base::PlannerData::tags

For every state, a tag may be associated by the planner. For example, a bi-directional planner may assign one tag for states in the start tree and another for states in the goal tree. By default the tag has value 0.

Definition at line 86 of file PlannerData.h.

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The documentation for this class was generated from the following file:

• PlannerData.h