ompl::base::PlannerData Class Reference

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

#include <PlannerData.h>

Inheritance diagram for ompl::base::PlannerData:

[legend]

List of all members.

Public Member Functions
virtual void	clear (void)
	Clear any stored data.
	PlannerData (void)
virtual void	print (std::ostream &out=std::cout) const
	Print this data to a stream.
int	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 base/PlannerData.h.

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Constructor & Destructor Documentation

ompl::base::PlannerData::PlannerData

(

void

)

[inline]

Reimplemented in ompl::control::PlannerData.

Definition at line 55 of file base/PlannerData.h.

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

(

void

)

[inline, virtual]

Reimplemented in ompl::control::PlannerData.

Definition at line 59 of file base/PlannerData.h.

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Member Function Documentation

virtual void ompl::base::PlannerData::clear

(

void

)

[virtual]

Clear any stored data.

Reimplemented in ompl::control::PlannerData.

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

(

std::ostream &

out = std::cout

)

const [virtual]

Print this data to a stream.

int 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.

Returns:

index of s1 in state array when an edge is added, -1 otherwise.

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 95 of file base/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 98 of file base/PlannerData.h.

SpaceInformationPtr ompl::base::PlannerData::si

The space information containing the states of the exploration datastructure.

Definition at line 81 of file base/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 92 of file base/PlannerData.h.

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

The list of states in the current exploration datastructure.

Definition at line 84 of file base/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 88 of file base/PlannerData.h.

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

• base/PlannerData.h