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PlannerData.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_PLANNER_DATA_
00038 #define OMPL_BASE_PLANNER_DATA_
00039 
00040 #include "ompl/base/SpaceInformation.h"
00041 #include <iostream>
00042 #include <vector>
00043 #include <string>
00044 #include <map>
00045 
00046 namespace ompl
00047 {
00048     namespace base
00049     {
00050 
00052         class PlannerData
00053         {
00054         public:
00055             PlannerData(void)
00056             {
00057             }
00058 
00059             virtual ~PlannerData(void)
00060             {
00061             }
00062 
00069             int recordEdge(const State *s1, const State *s2);
00070 
00072             void tagState(const State *s, int tag);
00073 
00075             virtual void clear(void);
00076 
00078             virtual void print(std::ostream &out = std::cout) const;
00079 
00081             SpaceInformationPtr                      si;
00082 
00084             std::vector< const State* >              states;
00085 
00088             std::vector< int >                       tags;
00089 
00092             std::map< const State *, unsigned int >  stateIndex;
00093 
00095             std::vector< std::vector<unsigned int> > edges;
00096 
00098             std::map<std::string, std::string>       properties;
00099         };
00100     }
00101 }
00102 
00103 #endif