PlannerDataStorage.h
110 virtual void loadEdges(base::PlannerData &pd, unsigned int numEdges, boost::archive::binary_iarchive &ia)
114 const ControlSpacePtr& space = static_cast<control::PlannerData&>(pd).getSpaceInformation()->getControlSpace();
126 const_cast<PlannerDataEdgeControl*>(static_cast<const PlannerDataEdgeControl*>(edgeData.e_))->c_ = ctrl;
128 pd.addEdge(edgeData.endpoints_.first, edgeData.endpoints_.second, *edgeData.e_, base::Cost(edgeData.weight_));
152 const ControlSpacePtr& space = static_cast<const control::PlannerData&>(pd).getSpaceInformation()->getControlSpace();
168 space->serialize(&ctrl[0], static_cast<const PlannerDataEdgeControl*>(edgeData.e_)->getControl());
Object that handles loading/storing a PlannerData object to/from a binary stream. Serialization of ve...
Definition: PlannerDataStorage.h:79
virtual void storeEdges(const base::PlannerData &pd, boost::archive::binary_oarchive &oa)
Serialize and store all edges in pd to the binary archive. It is assumed that the edges can be cast t...
Definition: PlannerDataStorage.h:148
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
The object containing all edge data that will be stored.
Definition: PlannerDataStorage.h:155
virtual void decoupleFromPlanner()
Creates a deep copy of the states contained in the vertices of this PlannerData structure so that whe...
Definition: PlannerData.cpp:84
Object that handles loading/storing a PlannerData object to/from a binary stream. Serialization of ve...
Definition: PlannerDataStorage.h:52
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:111
virtual void store(const base::PlannerData &pd, const char *filename)
Store (serialize) the structure to the given filename. The StateSpace and ControlSpace that was used ...
Definition: PlannerDataStorage.cpp:124
Representation of an edge in PlannerData for planning with controls. This structure encodes a specifi...
Definition: PlannerData.h:60
bool getEdgeWeight(unsigned int v1, unsigned int v2, Cost *weight) const
Returns the weight of the edge between the given vertex indices. If there exists an edge between v1 a...
Definition: PlannerData.cpp:158
A boost shared pointer wrapper for ompl::control::ControlSpace.
virtual void loadEdges(base::PlannerData &pd, unsigned int numEdges, boost::archive::binary_iarchive &ia)
Read numEdges from the binary input ia and store them as PlannerData. It is assumed that the edges ca...
Definition: PlannerDataStorage.h:110
void serialize(Archive &ar, const unsigned int)
boost::serialization routine
Definition: PlannerDataStorage.h:122
unsigned int numEdges() const
Retrieve the number of edges in this structure.
Definition: PlannerData.cpp:208
unsigned int numVertices() const
Retrieve the number of vertices in this structure.
Definition: PlannerData.cpp:203
virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge=PlannerDataEdge(), Cost weight=Cost(1.0))
Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be s...
Definition: PlannerData.cpp:444
Information stored at the beginning of the PlannerData archive.
Definition: PlannerDataStorage.h:106
bool edgeExists(unsigned int v1, unsigned int v2) const
Check whether an edge between vertex index v1 and index v2 exists.
Definition: PlannerData.cpp:189
const PlannerDataEdge & getEdge(unsigned int v1, unsigned int v2) const
Retrieve a reference to the edge object connecting vertices with indexes v1 and v2. If this edge does not exist, NO_EDGE is returned.
Definition: PlannerData.cpp:231
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
virtual void load(const char *filename, base::PlannerData &pd)
Load the PlannerData structure from the given filename.
Definition: PlannerDataStorage.cpp:52