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:

List of all members.

Public Member Functions
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 void	clear (void)
	Clear any stored data.
virtual void	print (std::ostream &out=std::cout) const
	Print this data to a stream.
Public Attributes
SpaceInformationPtr	si
	The space information containing the states of the exploration datastructure.
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.
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< 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.

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Detailed Description

Datatype holding data a planner can expose for debug purposes.

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Member Function Documentation

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.

Definition at line 67 of file PlannerData.cpp.

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

• src/ompl/base/PlannerData.h
• src/ompl/base/src/PlannerData.cpp