PlannerData.cpp
39 ompl::control::PlannerData::PlannerData(const SpaceInformationPtr &siC) : base::PlannerData(boost::static_pointer_cast<base::SpaceInformation>(siC)), siC_(siC)
62 for (std::map<unsigned int, const base::PlannerDataEdge*>::iterator edgemapit = edgeMap.begin(); edgemapit != edgeMap.end(); ++edgemapit)
65 Control *ctrl = const_cast<Control*>(static_cast<const PlannerDataEdgeControl*>(edgemapit->second)->getControl());
82 bool ompl::control::PlannerData::removeEdge (const ompl::base::PlannerDataVertex &v1, const ompl::base::PlannerDataVertex &v2)
137 const ompl::control::SpaceInformationPtr& ompl::control::PlannerData::getSpaceInformation() const
149 for (std::set<Control*>::iterator it = decoupledControls_.begin(); it != decoupledControls_.end(); ++it)
virtual void decoupleFromPlanner()
Creates a deep copy of the states contained in the vertices of this PlannerData structure so that whe...
Definition: PlannerData.cpp:84
const SpaceInformationPtr & getSpaceInformation() const
Return the instance of SpaceInformation used in this PlannerData.
Definition: PlannerData.cpp:137
Representation of an edge in PlannerData for planning with controls. This structure encodes a specifi...
Definition: PlannerData.h:60
PlannerData(const SpaceInformationPtr &siC)
Constructor. Accepts a SpaceInformationPtr for the space planned in.
Definition: PlannerData.cpp:39
Definition: PlannerData.py:1
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:60
virtual bool removeVertex(const PlannerDataVertex &st)
Removes the vertex associated with the given data. If the vertex does not exist, false is returned...
Definition: PlannerData.cpp:484
virtual bool hasControls() const
Returns true if this PlannerData instance has controls associated with it.
Definition: PlannerData.cpp:142
virtual bool removeVertex(const base::PlannerDataVertex &st)
Removes the vertex associated with the given data. If the vertex does not exist, false is returned...
Definition: PlannerData.cpp:53
A boost shared pointer wrapper for ompl::control::SpaceInformation.
virtual bool removeEdge(unsigned int v1, unsigned int v2)
Removes the edge between vertex indexes v1 and v2. Success is returned.
Definition: PlannerData.cpp:77
const Control * getControl() const
Return the control associated with this edge.
Definition: PlannerData.h:76
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:69
virtual bool removeEdge(unsigned int v1, unsigned int v2)
Removes the edge between vertex indexes v1 and v2. Success is returned.
Definition: PlannerData.cpp:549
virtual void decoupleFromPlanner()
Creates a deep copy of the states contained in the vertices of this PlannerData structure so that whe...
Definition: PlannerData.cpp:112