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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:

List of all members.

Public Member Functions

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 void clear (void)
 Clear any stored data.

Public Attributes

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].
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]

Detailed Description

Datatype holding data a planner can expose for debug purposes.

Definition at line 49 of file PlannerData.h.


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