Datatype holding data a planner can expose for debug purposes. More...
#include <PlannerData.h>
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. |
Datatype holding data a planner can expose for debug purposes.
Definition at line 52 of file PlannerData.h.
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.
Definition at line 67 of file PlannerData.cpp.