PlannerDataStorage.h
143 {
171 virtual void loadVertices(PlannerData &pd, unsigned int numVertices, boost::archive::binary_iarchive &ia)
207 pd.decoupleFromPlanner();
210 space->freeState(state);
228 vertexData.type_ = PlannerDataVertexData::START;
243 virtual void loadEdges(PlannerData &pd, unsigned int numEdges, boost::archive::binary_iarchive &ia)
std::size_t vertex_count
Number of vertices stored in the archive.
Definition: PlannerDataStorage.h:207
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:157
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:104
The object containing all vertex data that will be stored.
Definition: PlannerDataStorage.h:228
const SpaceInformationPtr & getSpaceInformation() const
Return the instance of SpaceInformation used in this PlannerData.
Definition: PlannerData.cpp:757
bool isStartVertex(unsigned int index) const
Returns true if the given vertex index is marked as a start vertex.
Definition: PlannerData.cpp:349
bool isGoalVertex(unsigned int index) const
Returns true if the given vertex index is marked as a goal vertex.
Definition: PlannerData.cpp:354
void serialize(Archive &ar, const unsigned int)
boost::serialization routine
Definition: PlannerDataStorage.h:218
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:111
std::uint_fast32_t marker
OMPL PlannerData specific marker (fixed value)
Definition: PlannerDataStorage.h:204
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:238
virtual void store(const PlannerData &pd, const char *filename)
Store (serialize) the PlannerData structure to the given filename.
Definition: PlannerDataStorage.cpp:46
std::vector< int > signature
Signature of state space that allocated the saved states in the vertices (see ompl::base::StateSpace:...
Definition: PlannerDataStorage.h:214
unsigned int numVertices() const
Retrieve the number of vertices in this structure.
Definition: PlannerData.cpp:202
virtual void load(const char *filename, PlannerData &pd)
Load the PlannerData structure from the given stream. The StateSpace that was used to store the data ...
Definition: PlannerDataStorage.cpp:87
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:212
virtual void loadVertices(PlannerData &pd, unsigned int numVertices, boost::archive::binary_iarchive &ia)
Read numVertices from the binary input ia and store them as PlannerData.
Definition: PlannerDataStorage.h:267
virtual const State * getState() const
Retrieve the state associated with this vertex.
Definition: PlannerData.h:176
virtual void loadEdges(PlannerData &pd, unsigned int numEdges, boost::archive::binary_iarchive &ia)
Read numEdges from the binary input ia and store them as PlannerData.
Definition: PlannerDataStorage.h:339
virtual void storeVertices(const PlannerData &pd, boost::archive::binary_oarchive &oa)
Serialize and store all vertices in pd to the binary archive.
Definition: PlannerDataStorage.h:310
virtual void storeEdges(const PlannerData &pd, boost::archive::binary_oarchive &oa)
Serialize and store all edges in pd to the binary archive.
Definition: PlannerDataStorage.h:355
A shared pointer wrapper for ompl::base::StateSpace.
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:432
The object containing all edge data that will be stored.
Definition: PlannerDataStorage.h:251
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:122
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:230