PlannerDataStorage.h
110 void loadEdges(base::PlannerData &pd, unsigned int numEdges, boost::archive::binary_iarchive &ia) override
116 std::vector<Control *> controls;
127 const_cast<PlannerDataEdgeControl *>(static_cast<const PlannerDataEdgeControl *>(edgeData.e_))->c_ =
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
PlannerDataStorage()=default
Default constructor.
Representation of an edge in PlannerData for planning with controls. This structure encodes a specifi...
Definition: PlannerData.h:124
A shared pointer wrapper for ompl::control::ControlSpace.
void serialize(Archive &ar, const unsigned int)
boost::serialization routine
Definition: PlannerDataStorage.h:218
void store(const base::PlannerData &pd, const char *filename) override
Store (serialize) the structure to the given filename. The StateSpace and ControlSpace that was used ...
Definition: PlannerDataStorage.cpp:116
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:111
unsigned int numEdges() const
Retrieve the number of edges in this structure.
Definition: PlannerData.cpp:207
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:238
unsigned int numVertices() const
Retrieve the number of vertices in this structure.
Definition: PlannerData.cpp:202
void loadEdges(base::PlannerData &pd, unsigned int numEdges, boost::archive::binary_iarchive &ia) override
Read numEdges from the binary input ia and store them as PlannerData. It is assumed that the edges ca...
Definition: PlannerDataStorage.h:206
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:185
void load(const char *filename, base::PlannerData &pd) override
Load the PlannerData structure from the given filename.
Definition: PlannerDataStorage.cpp:44
~PlannerDataStorage() override=default
Destructor.
void storeEdges(const base::PlannerData &pd, boost::archive::binary_oarchive &oa) override
Serialize and store all edges in pd to the binary archive. It is assumed that the edges can be cast t...
Definition: PlannerDataStorage.h:247
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