PlannerDataVertexAnnotated.h
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35 
36 /* Author: Andreas Orthey */
37 
38 #ifndef OMPL_GEOMETRIC_PLANNERS_QUOTIENTSPACE_SRC_VERTEX_ANNOTATED_
39 #define OMPL_GEOMETRIC_PLANNERS_QUOTIENTSPACE_SRC_VERTEX_ANNOTATED_
40 
41 #include <ompl/base/PlannerData.h>
42 #include <boost/serialization/export.hpp>
43 
44 namespace ompl
45 {
46  namespace base
47  {
51  class PlannerDataVertexAnnotated : public ompl::base::PlannerDataVertex
52  {
53  // If new elements are added,
54  // you need to update the clone/getstate functions!
55  public:
56  PlannerDataVertexAnnotated(const ompl::base::State *st, int tag = 0);
57  PlannerDataVertexAnnotated(const PlannerDataVertexAnnotated &rhs);
58  virtual PlannerDataVertex *clone() const override;
59 
60  void setLevel(unsigned int level_);
61  unsigned int getLevel() const;
62 
63  void setMaxLevel(unsigned int level_);
64  unsigned int getMaxLevel() const;
65 
66  void setPath(std::vector<int> path_);
67  std::vector<int> getPath() const;
68 
69  void setComponent(unsigned int component_);
70  unsigned int getComponent() const;
71 
72  void setState(ompl::base::State *s);
73  void setQuotientState(const ompl::base::State *s);
74  virtual const ompl::base::State *getState() const override;
75  virtual const ompl::base::State *getQuotientState() const;
76 
77  friend bool operator==(const PlannerDataVertexAnnotated &lhs, const PlannerDataVertexAnnotated &rhs);
78  friend std::ostream &operator<<(std::ostream &, const PlannerDataVertexAnnotated &);
79 
80  protected:
81  unsigned int level_{0};
82  unsigned int maxLevel_{1};
83 
84  std::vector<int> path_;
85 
86  unsigned int component_{0};
87  const ompl::base::State *stateQuotientSpace_{nullptr};
88  };
89 
90  } // namespace base
91 } // namespace ompl
92 #endif
Definition of an abstract state.
Definition: State.h:114
virtual PlannerDataVertex * clone() const override
Return a clone of this object, allocated from the heap.
PlannerDataVertex(const State *st, int tag=0)
Constructor. Takes a state pointer and an optional integer tag.
Definition: PlannerData.h:158
virtual const ompl::base::State * getState() const override
Retrieve the state associated with this vertex.
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:123
Main namespace. Contains everything in this library.
Definition: AppBase.h:22