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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_1base.html">base</a> </li>
<li class="navelem"><a class="el" href="classompl_1_1base_1_1PlannerData.html">PlannerData</a> </li>
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<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">ompl::base::PlannerData Class Reference</div> </div>
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<!-- doxytag: class="ompl::base::PlannerData" -->
<p>Datatype holding data a planner can expose for debug purposes.
<a href="classompl_1_1base_1_1PlannerData.html#details">More...</a></p>
<p><code>#include <<a class="el" href="base_2PlannerData_8h_source.html">PlannerData.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::base::PlannerData:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1base_1_1PlannerData__inherit__graph.png" border="0" usemap="#ompl_1_1base_1_1PlannerData_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1base_1_1PlannerData_inherit__map" id="ompl_1_1base_1_1PlannerData_inherit__map">
<area shape="rect" id="node3" href="classompl_1_1control_1_1PlannerData.html" title="Datatype holding data a planner can expose for debug purposes." alt="" coords="5,83,181,112"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1base_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">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerData.html#aa11d568e75a53a0fecddbecbc05ca429">recordEdge</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *s1, const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *s2)</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. <a href="#aa11d568e75a53a0fecddbecbc05ca429"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8de56c12227187dbb8d2c81af916f146"></a><!-- doxytag: member="ompl::base::PlannerData::tagState" ref="a8de56c12227187dbb8d2c81af916f146" args="(const State *s, int tag)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerData.html#a8de56c12227187dbb8d2c81af916f146">tagState</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *s, int tag)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Assign a tag to a state. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afd200a59748113994a65ed00b965e984"></a><!-- doxytag: member="ompl::base::PlannerData::clear" ref="afd200a59748113994a65ed00b965e984" args="(void)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerData.html#afd200a59748113994a65ed00b965e984">clear</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clear any stored data. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae902e62fa8a2a26cb2b5a003d63a5ccb"></a><!-- doxytag: member="ompl::base::PlannerData::print" ref="ae902e62fa8a2a26cb2b5a003d63a5ccb" args="(std::ostream &out=std::cout) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerData.html#ae902e62fa8a2a26cb2b5a003d63a5ccb">print</a> (std::ostream &out=std::cout) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Print this data to a stream. <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="a208850b8ba88f895e5e0367b018144cb"></a><!-- doxytag: member="ompl::base::PlannerData::si" ref="a208850b8ba88f895e5e0367b018144cb" args="" -->
<a class="el" href="classompl_1_1base_1_1SpaceInformationPtr.html">SpaceInformationPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerData.html#a208850b8ba88f895e5e0367b018144cb">si</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The space information containing the states of the exploration datastructure. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7f2d6be893b0165ac2348750a40ef389"></a><!-- doxytag: member="ompl::base::PlannerData::states" ref="a7f2d6be893b0165ac2348750a40ef389" args="" -->
std::vector< const <a class="el" href="classompl_1_1base_1_1State.html">State</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerData.html#a7f2d6be893b0165ac2348750a40ef389">states</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The list of states in the current exploration datastructure. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a57a31bc614ab0a1243c5a4cd07a8511a"></a><!-- doxytag: member="ompl::base::PlannerData::tags" ref="a57a31bc614ab0a1243c5a4cd07a8511a" args="" -->
std::vector< int > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerData.html#a57a31bc614ab0a1243c5a4cd07a8511a">tags</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae2ad67337a486f6e96ad6b66378f56bd"></a><!-- doxytag: member="ompl::base::PlannerData::stateIndex" ref="ae2ad67337a486f6e96ad6b66378f56bd" args="" -->
std::map< const <a class="el" href="classompl_1_1base_1_1State.html">State</a> <br class="typebreak"/>
*, unsigned int > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerData.html#ae2ad67337a486f6e96ad6b66378f56bd">stateIndex</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af420313f052ef87fc4935e71c6d474e9"></a><!-- doxytag: member="ompl::base::PlannerData::edges" ref="af420313f052ef87fc4935e71c6d474e9" args="" -->
std::vector< std::vector<br class="typebreak"/>
< unsigned int > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerData.html#af420313f052ef87fc4935e71c6d474e9">edges</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For each i, edges[i] contains the values edges[i][j] such that states[i] connects to every states[edges[i][j]]. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aca9e2da9d9a46e42c516fc8b926ab65c"></a><!-- doxytag: member="ompl::base::PlannerData::properties" ref="aca9e2da9d9a46e42c516fc8b926ab65c" args="" -->
std::map< std::string, <br class="typebreak"/>
std::string > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerData.html#aca9e2da9d9a46e42c516fc8b926ab65c">properties</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Any extra properties (key-value pairs) the planner can set. <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="base_2PlannerData_8h_source.html#l00052">52</a> of file <a class="el" href="base_2PlannerData_8h_source.html">PlannerData.h</a>.</p>
</div><hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="aa11d568e75a53a0fecddbecbc05ca429"></a><!-- doxytag: member="ompl::base::PlannerData::recordEdge" ref="aa11d568e75a53a0fecddbecbc05ca429" args="(const State *s1, const State *s2)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int ompl::base::PlannerData::recordEdge </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classompl_1_1base_1_1State.html">State</a> * </td>
<td class="paramname"><em>s1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classompl_1_1base_1_1State.html">State</a> * </td>
<td class="paramname"><em>s2</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
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<div class="memdoc">
<p>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. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>index of s1 in state array when an edge is added, -1 otherwise. </dd></dl>
<p>Definition at line <a class="el" href="base_2src_2PlannerData_8cpp_source.html#l00067">67</a> of file <a class="el" href="base_2src_2PlannerData_8cpp_source.html">PlannerData.cpp</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/base/<a class="el" href="base_2PlannerData_8h_source.html">PlannerData.h</a></li>
<li>src/ompl/base/src/<a class="el" href="base_2src_2PlannerData_8cpp_source.html">PlannerData.cpp</a></li>
</ul>
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