Datatype holding data a planner can expose for debug purposes. More...
#include <PlannerData.h>
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] |
Datatype holding data a planner can expose for debug purposes.
Definition at line 49 of file PlannerData.h.