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PlannerData.cpp
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00034 
00035 /* Author: Mark Moll */
00036 
00037 #include "ompl/control/PlannerData.h"
00038 
00039 void ompl::control::PlannerData::clear(void)
00040 {
00041     base::PlannerData::clear();
00042     controls.clear();
00043     controlDurations.clear();
00044 }
00045 
00046 int ompl::control::PlannerData::recordEdge(const base::State *s1, const base::State *s2,
00047     const Control* c, double duration)
00048 {
00049     int i = base::PlannerData::recordEdge(s1,s2);
00050     if (i!=-1)
00051     {
00052         if (i >= (int) controls.size())
00053         {
00054             controls.resize(i+1);
00055             controlDurations.resize(i+1);
00056         }
00057         controls[i].push_back(c);
00058         controlDurations[i].push_back(duration);
00059     }
00060     return i;
00061 }