ompl::control::PlannerData Class Reference

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

#include <PlannerData.h>

Inheritance diagram for ompl::control::PlannerData:

[legend]

List of all members.

Public Member Functions
virtual void	clear (void)
	Clear any stored data.
	PlannerData (void)
int	recordEdge (const base::State *s1, const base::State *s2, const Control *c, double duration)
	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.
virtual	~PlannerData (void)
Public Attributes
std::vector< std::vector < double > >	controlDurations
	controlDurations[i][j] contains the duration that controls[i][j] needs to be applied to take the system from state[i] to state[j]
std::vector< std::vector < const Control * > >	controls
	For each i, controls[i] contains the controls[i][j] that are needed to take the system from state[i] to state[j].

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Detailed Description

Datatype holding data a planner can expose for debug purposes.

Definition at line 49 of file control/PlannerData.h.

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Constructor & Destructor Documentation

ompl::control::PlannerData::PlannerData

(

void

)

[inline]

Reimplemented from ompl::base::PlannerData.

Definition at line 52 of file control/PlannerData.h.

virtual ompl::control::PlannerData::~PlannerData

(

void

)

[inline, virtual]

Reimplemented from ompl::base::PlannerData.

Definition at line 56 of file control/PlannerData.h.

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Member Function Documentation

virtual void ompl::control::PlannerData::clear

(

void

)

[virtual]

Clear any stored data.

Reimplemented from ompl::base::PlannerData.

int ompl::control::PlannerData::recordEdge	(	const base::State *	s1,
		const base::State *	s2,
		const Control *	c,
		double	duration
	)

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.

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Member Data Documentation

std::vector< std::vector< double > > ompl::control::PlannerData::controlDurations

controlDurations[i][j] contains the duration that controls[i][j] needs to be applied to take the system from state[i] to state[j]

Definition at line 76 of file control/PlannerData.h.

std::vector< std::vector< const Control* > > ompl::control::PlannerData::controls

For each i, controls[i] contains the controls[i][j] that are needed to take the system from state[i] to state[j].

Definition at line 71 of file control/PlannerData.h.

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

• control/PlannerData.h