Object containing planner generated vertex and edge data. It is assumed that all vertices are unique, and only a single directed edge connects two vertices. More...
#include <ompl/base/PlannerData.h>
Classes  
class  Graph 
Wrapper class for the Boost.Graph representation of the PlannerData. This class inherits from a boost::adjacency_list Graph structure. More...  
Public Member Functions  
PlannerData (const PlannerData &)=delete  
PlannerData &  operator= (const PlannerData &)=delete 
PlannerData (SpaceInformationPtr si)  
Constructor. Accepts a SpaceInformationPtr for the space planned in.  
virtual  ~PlannerData () 
Destructor.  
const SpaceInformationPtr &  getSpaceInformation () const 
Return the instance of SpaceInformation used in this PlannerData.  
virtual bool  hasControls () const 
Indicate whether any information about controls (ompl::control::Control) is stored in this instance.  
PlannerData construction  
unsigned int  addVertex (const PlannerDataVertex &st) 
Adds the given vertex to the graph data. The vertex index is returned. Duplicates are not added. If a vertex is duplicated, the index of the existing vertex is returned instead. Indexes are volatile and may change after adding/removing a subsequent vertex.  
unsigned int  addStartVertex (const PlannerDataVertex &v) 
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned. Duplicates are not added. If a vertex is duplicated, the index of the existing vertex is returned instead. Indexes are volatile and may change after adding/removing a subsequent vertex.  
unsigned int  addGoalVertex (const PlannerDataVertex &v) 
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned. Duplicates are not added. If a vertex is duplicated, the index of the existing vertex is returned instead. Indexes are volatile and may change after adding/removing a subsequent vertex.  
bool  markStartState (const State *st) 
Mark the given state as a start vertex. If the given state does not exist in a vertex, false is returned.  
bool  markGoalState (const State *st) 
Mark the given state as a goal vertex. If the given state does not exist in a vertex, false is returned.  
bool  tagState (const State *st, int tag) 
Set the integer tag associated with the given state. If the given state does not exist in a vertex, false is returned.  
virtual bool  removeVertex (const PlannerDataVertex &st) 
Removes the vertex associated with the given data. If the vertex does not exist, false is returned. This method has O(n) complexity in the number of vertices.  
virtual bool  removeVertex (unsigned int vIndex) 
Removes the vertex with the given index. If the index is out of range, false is returned. This method has O(n) complexity in the number of vertices.  
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 supplied. Success is returned.  
virtual bool  addEdge (const PlannerDataVertex &v1, const PlannerDataVertex &v2, const PlannerDataEdge &edge=PlannerDataEdge(), Cost weight=Cost(1.0)) 
Adds a directed edge between the given vertex indexes. The vertices are added to the data if they are not already in the structure. An optional edge structure and weight can also be supplied. Success is returned.  
virtual bool  removeEdge (unsigned int v1, unsigned int v2) 
Removes the edge between vertex indexes v1 and v2. Success is returned.  
virtual bool  removeEdge (const PlannerDataVertex &v1, const PlannerDataVertex &v2) 
Removes the edge between the vertices associated with the given vertex data. Success is returned.  
virtual void  clear () 
Clears the entire data structure.  
virtual void  decoupleFromPlanner () 
Creates a deep copy of the states contained in the vertices of this PlannerData structure so that when the planner that created this instance goes out of scope, all data remains intact. More...  
PlannerData Properties  
unsigned int  numEdges () const 
Retrieve the number of edges in this structure.  
unsigned int  numVertices () const 
Retrieve the number of vertices in this structure.  
unsigned int  numStartVertices () const 
Returns the number of start vertices.  
unsigned int  numGoalVertices () const 
Returns the number of goal vertices.  
PlannerData vertex lookup  
bool  vertexExists (const PlannerDataVertex &v) const 
Check whether a vertex exists with the given vertex data.  
const PlannerDataVertex &  getVertex (unsigned int index) const 
Retrieve a reference to the vertex object with the given index. If this vertex does not exist, NO_VERTEX is returned.  
PlannerDataVertex &  getVertex (unsigned int index) 
Retrieve a reference to the vertex object with the given index. If this vertex does not exist, NO_VERTEX is returned.  
const PlannerDataVertex &  getStartVertex (unsigned int i) const 
Retrieve a reference to the ith start vertex object. If i is greater than the number of start vertices, NO_VERTEX is returned.  
PlannerDataVertex &  getStartVertex (unsigned int i) 
Retrieve a reference to the ith start vertex object. If i is greater than the number of start vertices, NO_VERTEX is returned.  
const PlannerDataVertex &  getGoalVertex (unsigned int i) const 
Retrieve a reference to the ith goal vertex object. If i is greater than the number of goal vertices, NO_VERTEX is returned.  
PlannerDataVertex &  getGoalVertex (unsigned int i) 
Retrieve a reference to the ith goal vertex object. If i is greater than the number of goal vertices, NO_VERTEX is returned.  
unsigned int  getStartIndex (unsigned int i) const 
Returns the index of the ith start state. INVALID_INDEX is returned if i is out of range. Indexes are volatile and may change after adding/removing a vertex.  
unsigned int  getGoalIndex (unsigned int i) const 
Returns the index of the ith goal state. INVALID_INDEX is returned if i is out of range Indexes are volatile and may change after adding/removing a vertex.  
bool  isStartVertex (unsigned int index) const 
Returns true if the given vertex index is marked as a start vertex.  
bool  isGoalVertex (unsigned int index) const 
Returns true if the given vertex index is marked as a goal vertex.  
unsigned int  vertexIndex (const PlannerDataVertex &v) const 
Return the index for the vertex associated with the given data. INVALID_INDEX is returned if this vertex does not exist. Indexes are volatile and may change after adding/removing a vertex.  
PlannerData edge lookup  
bool  edgeExists (unsigned int v1, unsigned int v2) const 
Check whether an edge between vertex index v1 and index v2 exists.  
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.  
PlannerDataEdge &  getEdge (unsigned int v1, unsigned int v2) 
Retrieve a reference to the edge object connecting vertices with indexes v1 and v2. If this edge does not exist, NO_EDGE is returned.  
unsigned int  getEdges (unsigned int v, std::vector< unsigned int > &edgeList) const 
Returns a list of the vertex indexes directly connected to vertex with index v (outgoing edges). The number of outgoing edges from v is returned.  
unsigned int  getEdges (unsigned int v, std::map< unsigned int, const PlannerDataEdge *> &edgeMap) const 
Returns a map of outgoing edges from vertex with index v. Key = vertex index, value = edge structure. The number of outgoing edges from v is returned.  
unsigned int  getIncomingEdges (unsigned int v, std::vector< unsigned int > &edgeList) const 
Returns a list of vertices with outgoing edges to the vertex with index v. The number of edges connecting to v is returned.  
unsigned int  getIncomingEdges (unsigned int v, std::map< unsigned int, const PlannerDataEdge *> &edgeMap) const 
Returns a map of incoming edges to the vertex with index v (i.e. if there is an edge from w to v, w and the edge structure will be in the map.) Key = vertex index, value = edge structure. The number of incoming edges to v is returned.  
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 and , the edge weight is placed in the outvariable weight. Otherwise, this function returns false.  
bool  setEdgeWeight (unsigned int v1, unsigned int v2, Cost weight) 
Sets the weight of the edge between the given vertex indices. If an edge between v1 and v2 does not exist, this function returns false.  
void  computeEdgeWeights (const OptimizationObjective &opt) 
Computes the weight for all edges given the OptimizationObjective opt.  
void  computeEdgeWeights () 
Computes all edge weights using state space distance (i.e. getSpaceInformation()>distance())  
Output methods  
void  printGraphviz (std::ostream &out=std::cout) const 
Writes a Graphviz dot file of this structure to the given stream.  
void  printGraphML (std::ostream &out=std::cout) const 
Writes a GraphML file of this structure to the given stream.  
void  printPLY (std::ostream &out, bool asIs=false) const 
Write a mesh of the planner graph to a stream. Insert additional vertices if asIs == true.  
Advanced graph extraction  
void  extractMinimumSpanningTree (unsigned int v, const OptimizationObjective &opt, PlannerData &mst) const 
Extracts the minimum spanning tree of the data rooted at the vertex with index v. The minimum spanning tree is saved into mst. O(E log V) complexity.  
void  extractReachable (unsigned int v, PlannerData &data) const 
Extracts the subset of PlannerData reachable from the vertex with index v. For tree structures, this will be the subtree rooted at v. The reachable set is saved into data.  
StateStoragePtr  extractStateStorage () const 
Extract a ompl::base::GraphStateStorage object from this PlannerData. Memory for states is copied (the resulting ompl::base::StateStorage is independent from this PlannerData)  
Graph &  toBoostGraph () 
Extract a Boost.Graph object from this PlannerData. More...  
const Graph &  toBoostGraph () const 
Extract a Boost.Graph object from this PlannerData. More...  
Public Attributes  
std::map< std::string, std::string >  properties 
Any extra properties (keyvalue pairs) the planner can set.  
Static Public Attributes  
static const PlannerDataEdge  NO_EDGE = ompl::base::PlannerDataEdge() 
Representation for a nonexistant edge.  
static const PlannerDataVertex  NO_VERTEX = ompl::base::PlannerDataVertex(nullptr) 
Representation for a nonexistant vertex.  
static const unsigned int  INVALID_INDEX = std::numeric_limits<unsigned int>::max() 
Representation of an invalid vertex index.  
Protected Attributes  
std::map< const State *, unsigned int >  stateIndexMap_ 
A mapping of states to vertex indexes. For fast lookup of vertex index.  
std::vector< unsigned int >  startVertexIndices_ 
A mutable listing of the vertices marked as start states. Stored in sorted order.  
std::vector< unsigned int >  goalVertexIndices_ 
A mutable listing of the vertices marked as goal states. Stored in sorted order.  
SpaceInformationPtr  si_ 
The space information instance for this data.  
std::set< State * >  decoupledStates_ 
A list of states that are allocated during the decoupleFromPlanner method. These states are freed by PlannerData in the destructor.  
Detailed Description
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique, and only a single directed edge connects two vertices.
 Note
 The storage for states this class maintains belongs to the planner instance that filled the data (by default; see PlannerData::decoupleFromPlanner())
Definition at line 174 of file PlannerData.h.
Member Function Documentation
◆ decoupleFromPlanner()

virtual 
Creates a deep copy of the states contained in the vertices of this PlannerData structure so that when the planner that created this instance goes out of scope, all data remains intact.
 Remarks
 Shallow state pointers inside of the PlannerDataVertex objects already in this PlannerData will be replaced with clones which are scoped to this PlannerData object. A subsequent call to this method is necessary after any other vertices are added to ensure that this PlannerData instance is fully decoupled.
Reimplemented in ompl::control::PlannerData.
Definition at line 80 of file PlannerData.cpp.
◆ toBoostGraph() [1/2]
ompl::base::PlannerData::Graph & ompl::base::PlannerData::toBoostGraph  (  ) 
Extract a Boost.Graph object from this PlannerData.
 Remarks
 Use of this method requires inclusion of PlannerDataGraph.h The object returned can be used safely for all readonly purposes in Boost. Adding or removing vertices and edges should be performed by using the respective method in PlannerData to ensure proper memory management. Manipulating the graph directly will result in undefined behavior with this class.
Definition at line 744 of file PlannerData.cpp.
◆ toBoostGraph() [2/2]
const ompl::base::PlannerData::Graph & ompl::base::PlannerData::toBoostGraph  (  )  const 
Extract a Boost.Graph object from this PlannerData.
 Remarks
 Use of this method requires inclusion of PlannerDataGraph.h The object returned can be used safely for all readonly purposes in Boost. Adding or removing vertices and edges should be performed by using the respective method in PlannerData to ensure proper memory management. Manipulating the graph directly will result in undefined behavior with this class.
Definition at line 750 of file PlannerData.cpp.
The documentation for this class was generated from the following files:
 ompl/base/PlannerData.h
 ompl/base/src/PlannerData.cpp