PlannerData.h
154 {
232 virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge = PlannerDataEdge(),
328 unsigned int getEdges(unsigned int v, std::map<unsigned int, const PlannerDataEdge *> &edgeMap) const;
375 void extractMinimumSpanningTree(unsigned int v, const OptimizationObjective &opt, PlannerData &mst) const;
bool edgeExists(unsigned int v1, unsigned int v2) const
Check whether an edge between vertex index v1 and index v2 exists.
Definition: PlannerData.cpp:187
virtual bool operator==(const PlannerDataVertex &rhs) const
Equivalence operator. Return true if the state pointers are equal.
Definition: PlannerData.h:184
unsigned int numGoalVertices() const
Returns the number of goal vertices.
Definition: PlannerData.cpp:327
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:156
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....
Definition: PlannerData.cpp:332
virtual bool removeEdge(unsigned int v1, unsigned int v2)
Removes the edge between vertex indexes v1 and v2. Success is returned.
Definition: PlannerData.cpp:539
A shared pointer wrapper for ompl::base::SpaceInformation.
virtual int getTag() const
Returns the integer tag associated with this vertex.
Definition: PlannerData.h:162
virtual PlannerDataEdge * clone() const
Return a clone of this object, allocated from the heap.
Definition: PlannerData.h:193
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)....
Definition: PlannerData.cpp:103
bool operator!=(const PlannerDataEdge &rhs) const
Returns true if the edges do not point to the same memory. This is the complement of the == operator.
Definition: PlannerData.h:206
const SpaceInformationPtr & getSpaceInformation() const
Return the instance of SpaceInformation used in this PlannerData.
Definition: PlannerData.cpp:756
bool isStartVertex(unsigned int index) const
Returns true if the given vertex index is marked as a start vertex.
Definition: PlannerData.cpp:348
Wrapper class for the Boost.Graph representation of the PlannerData. This class inherits from a boost...
Definition: PlannerDataGraph.h:71
bool isGoalVertex(unsigned int index) const
Returns true if the given vertex index is marked as a goal vertex.
Definition: PlannerData.cpp:353
bool operator!=(const PlannerDataVertex &rhs) const
Returns true if this vertex is not equal to the argument. This is the complement of the == operator.
Definition: PlannerData.h:192
static const PlannerDataEdge NO_EDGE
Representation for a non-existant edge.
Definition: PlannerData.h:238
virtual PlannerDataVertex * clone() const
Return a clone of this object, allocated from the heap.
Definition: PlannerData.h:178
bool vertexExists(const PlannerDataVertex &v) const
Check whether a vertex exists with the given vertex data.
Definition: PlannerData.cpp:196
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.
Definition: PlannerData.cpp:788
virtual void setTag(int tag)
Set the integer tag associated with this vertex.
Definition: PlannerData.h:167
std::vector< unsigned int > startVertexIndices_
A mutable listing of the vertices marked as start states. Stored in sorted order.
Definition: PlannerData.h:477
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:108
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,...
Definition: PlannerData.cpp:568
virtual void decoupleFromPlanner()
Creates a deep copy of the states contained in the vertices of this PlannerData structure so that whe...
Definition: PlannerData.cpp:79
unsigned int numEdges() const
Retrieve the number of edges in this structure.
Definition: PlannerData.cpp:206
StateStoragePtr extractStateStorage() const
Extract a ompl::base::GraphStateStorage object from this PlannerData. Memory for states is copied (th...
Definition: PlannerData.cpp:715
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:235
static const unsigned int INVALID_INDEX
Representation of an invalid vertex index.
Definition: PlannerData.h:245
Abstract definition of optimization objectives.
Definition: OptimizationObjective.h:131
Graph & toBoostGraph()
Extract a Boost.Graph object from this PlannerData.
Definition: PlannerData.cpp:743
void printGraphML(std::ostream &out=std::cout) const
Writes a GraphML file of this structure to the given stream.
Definition: PlannerData.cpp:283
unsigned int numVertices() const
Retrieve the number of vertices in this structure.
Definition: PlannerData.cpp:201
unsigned int numStartVertices() const
Returns the number of start vertices.
Definition: PlannerData.cpp:322
unsigned int vertexIndex(const PlannerDataVertex &v) const
Return the index for the vertex associated with the given data. INVALID_INDEX is returned if this ver...
Definition: PlannerData.cpp:314
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 vertice...
Definition: PlannerData.cpp:358
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 e...
Definition: PlannerData.cpp:172
Object that handles loading/storing a PlannerData object to/from a binary stream. Serialization of ve...
Definition: PlannerDataStorage.h:140
bool markGoalState(const State *st)
Mark the given state as a goal vertex. If the given state does not exist in a vertex,...
Definition: PlannerData.cpp:596
void printGraphviz(std::ostream &out=std::cout) const
Writes a Graphviz dot file of this structure to the given stream.
Definition: PlannerData.cpp:259
void extractReachable(unsigned int v, PlannerData &data) const
Extracts the subset of PlannerData reachable from the vertex with index v. For tree structures,...
Definition: PlannerData.cpp:684
const PlannerDataVertex & getVertex(unsigned int index) const
Retrieve a reference to the vertex object with the given index. If this vertex does not exist,...
Definition: PlannerData.cpp:211
std::set< State * > decoupledStates_
A list of states that are allocated during the decoupleFromPlanner method. These states are freed by ...
Definition: PlannerData.h:485
virtual const State * getState() const
Retrieve the state associated with this vertex.
Definition: PlannerData.h:172
bool markStartState(const State *st)
Mark the given state as a start vertex. If the given state does not exist in a vertex,...
Definition: PlannerData.cpp:579
PlannerDataVertex(const State *st, int tag=0)
Constructor. Takes a state pointer and an optional integer tag.
Definition: PlannerData.h:154
virtual bool removeVertex(const PlannerDataVertex &st)
Removes the vertex associated with the given data. If the vertex does not exist, false is returned....
Definition: PlannerData.cpp:472
unsigned int addVertex(const PlannerDataVertex &st)
Adds the given vertex to the graph data. The vertex index is returned. Duplicates are not added....
Definition: PlannerData.cpp:390
std::map< std::string, std::string > properties
Any extra properties (key-value pairs) the planner can set.
Definition: PlannerData.h:471
std::vector< unsigned int > goalVertexIndices_
A mutable listing of the vertices marked as goal states. Stored in sorted order.
Definition: PlannerData.h:479
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,...
Definition: PlannerData.cpp:374
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 spannin...
Definition: PlannerData.cpp:637
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...
Definition: PlannerData.cpp:412
std::map< const State *, unsigned int > stateIndexMap_
A mapping of states to vertex indexes. For fast lookup of vertex index.
Definition: PlannerData.h:475
void computeEdgeWeights()
Computes all edge weights using state space distance (i.e. getSpaceInformation()->distance())
Definition: PlannerData.cpp:629
virtual bool operator==(const PlannerDataEdge &rhs) const
Returns true if the edges point to the same memory.
Definition: PlannerData.h:199
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 connec...
Definition: PlannerData.cpp:130
static const PlannerDataVertex NO_VERTEX
Representation for a non-existant vertex.
Definition: PlannerData.h:243
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:431
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...
Definition: PlannerData.cpp:421
int tag_
A generic integer tag for this state. Not used for equivalence checking.
Definition: PlannerData.h:211
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:119
virtual bool hasControls() const
Indicate whether any information about controls (ompl::control::Control) is stored in this instance.
Definition: PlannerData.cpp:783
const PlannerDataEdge & getEdge(unsigned int v1, unsigned int v2) const
Retrieve a reference to the edge object connecting vertices with indexes v1 and v2....
Definition: PlannerData.cpp:229
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 v...
Definition: PlannerData.cpp:340