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PlannerData.h
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00034 
00035 /* Author: Mark Moll */
00036 
00037 #ifndef OMPL_CONTROL_PLANNER_DATA_
00038 #define OMPL_CONTROL_PLANNER_DATA_
00039 
00040 #include "ompl/base/PlannerData.h"
00041 #include "ompl/control/Control.h"
00042 
00043 namespace ompl
00044 {
00045     namespace control
00046     {
00047 
00049         class PlannerData : public base::PlannerData
00050         {
00051         public:
00052             PlannerData(void) : base::PlannerData()
00053             {
00054             }
00055 
00056             virtual ~PlannerData(void)
00057             {
00058             }
00059 
00064             int recordEdge(const base::State *s1, const base::State *s2, const Control* c, double duration);
00065 
00067             virtual void clear(void);
00068 
00071             std::vector< std::vector< const Control* > > controls;
00072 
00076             std::vector< std::vector< double > >         controlDurations;
00077         };
00078     }
00079 }
00080 
00081 #endif