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<li class="navelem"><a class="el" href="namespaceompl.html">ompl</a> </li>
<li class="navelem"><a class="el" href="namespaceompl_1_1control.html">control</a> </li>
<li class="navelem"><a class="el" href="classompl_1_1control_1_1PlannerData.html">PlannerData</a> </li>
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<a href="#pub-methods">Public Member Functions</a> |
<a href="#pub-attribs">Public Attributes</a> </div>
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<div class="title">ompl::control::PlannerData Class Reference</div> </div>
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<!-- doxytag: class="ompl::control::PlannerData" --><!-- doxytag: inherits="ompl::base::PlannerData" -->
<p>Datatype holding data a planner can expose for debug purposes.
<a href="classompl_1_1control_1_1PlannerData.html#details">More...</a></p>
<p><code>#include <<a class="el" href="control_2PlannerData_8h_source.html">PlannerData.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::control::PlannerData:</div>
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<div class="center"><img src="classompl_1_1control_1_1PlannerData__inherit__graph.png" border="0" usemap="#ompl_1_1control_1_1PlannerData_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1control_1_1PlannerData_inherit__map" id="ompl_1_1control_1_1PlannerData_inherit__map">
<area shape="rect" id="node2" href="classompl_1_1base_1_1PlannerData.html" title="Datatype holding data a planner can expose for debug purposes." alt="" coords="11,5,176,35"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1control_1_1PlannerData-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac783622ca38ca7dee64a163d74f7b1ee"></a><!-- doxytag: member="ompl::control::PlannerData::recordEdge" ref="ac783622ca38ca7dee64a163d74f7b1ee" args="(const base::State *s1, const base::State *s2, const Control *c, double duration)" -->
int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1PlannerData.html#ac783622ca38ca7dee64a163d74f7b1ee">recordEdge</a> (const <a class="el" href="classompl_1_1base_1_1State.html">base::State</a> *s1, const <a class="el" href="classompl_1_1base_1_1State.html">base::State</a> *s2, const <a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *c, double duration)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Record an edge between two states. This function is called by planners to fill <em>states</em>, <em>stateIndex</em> and <em>edges</em>. If the same state/edge is seen multiple times, it is added only once. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae184a48047f0e11b3cecab11d35f63d7"></a><!-- doxytag: member="ompl::control::PlannerData::clear" ref="ae184a48047f0e11b3cecab11d35f63d7" args="(void)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1PlannerData.html#ae184a48047f0e11b3cecab11d35f63d7">clear</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clear any stored data. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3d19366d0cfdb732532771346a8d3ecf"></a><!-- doxytag: member="ompl::control::PlannerData::controls" ref="a3d19366d0cfdb732532771346a8d3ecf" args="" -->
std::vector< std::vector<br class="typebreak"/>
< const <a class="el" href="classompl_1_1control_1_1Control.html">Control</a> * > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1PlannerData.html#a3d19366d0cfdb732532771346a8d3ecf">controls</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For each i, controls[i] contains the controls[i][j] that are needed to take the system from state[i] to state[j]. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7892f09952a45dfdb26d3534b7f3cbca"></a><!-- doxytag: member="ompl::control::PlannerData::controlDurations" ref="a7892f09952a45dfdb26d3534b7f3cbca" args="" -->
std::vector< std::vector<br class="typebreak"/>
< double > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1PlannerData.html#a7892f09952a45dfdb26d3534b7f3cbca">controlDurations</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">controlDurations[i][j] contains the duration that controls[i][j] needs to be applied to take the system from state[i] to state[j] <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Datatype holding data a planner can expose for debug purposes. </p>
<p>Definition at line <a class="el" href="control_2PlannerData_8h_source.html#l00049">49</a> of file <a class="el" href="control_2PlannerData_8h_source.html">PlannerData.h</a>.</p>
</div><hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/control/<a class="el" href="control_2PlannerData_8h_source.html">PlannerData.h</a></li>
<li>src/ompl/control/src/<a class="el" href="control_2src_2PlannerData_8cpp_source.html">PlannerData.cpp</a></li>
</ul>
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