PlannerData.h

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/* Author: Mark Moll */
 
#ifndef OMPL_CONTROL_PLANNER_DATA_
#define OMPL_CONTROL_PLANNER_DATA_
 
#include "ompl/base/PlannerData.h"
#include "ompl/control/SpaceInformation.h"
#include "ompl/control/Control.h"
#include <boost/serialization/base_object.hpp>
 
namespace ompl
{
    namespace control
    {
        class PlannerDataEdgeControl : public base::PlannerDataEdge
        {
        public:
            PlannerDataEdgeControl(const Control *c, double duration) : c_(c), duration_(duration)
            {
            }

            PlannerDataEdgeControl(const PlannerDataEdgeControl &rhs) : c_(rhs.c_), duration_(rhs.duration_)
            {
            }
 
            ~PlannerDataEdgeControl() override = default;
 
            base::PlannerDataEdge *clone() const override
            {
                return static_cast<base::PlannerDataEdge *>(new PlannerDataEdgeControl(*this));
            }

            const Control *getControl() const
            {
                return c_;
            }

            double getDuration() const
            {
                return duration_;
            }
 
            bool operator==(const PlannerDataEdge &rhs) const override
            {
                const auto *rhsc = static_cast<const PlannerDataEdgeControl *>(&rhs);
                if (c_ == rhsc->c_)
                    return static_cast<const PlannerDataEdge>(*this) == rhs;
                return false;
            }
 
        protected:
            friend class boost::serialization::access;
            friend class PlannerDataStorage;
            friend class PlannerData;
 
            PlannerDataEdgeControl() = default;
 
            template <class Archive>
            void serialize(Archive &ar, const unsigned int /*version*/)
            {
                ar &boost::serialization::base_object<base::PlannerDataEdge>(*this);
                ar & duration_;
                // Serializing the control is handled by control::PlannerDataStorage
            }
 
            const Control *c_{nullptr};
            double duration_;
        };

        class PlannerData : public base::PlannerData
        {
        public:
            PlannerData(const SpaceInformationPtr &siC);
            ~PlannerData() override;

            bool removeVertex(const base::PlannerDataVertex &st) override;
            bool removeVertex(unsigned int vIndex) override;

            bool removeEdge(unsigned int v1, unsigned int v2) override;
            bool removeEdge(const base::PlannerDataVertex &v1, const base::PlannerDataVertex &v2) override;

            void clear() override;

            void decoupleFromPlanner() override;

            const SpaceInformationPtr &getSpaceInformation() const;

            bool hasControls() const override;
 
        protected:
            SpaceInformationPtr siC_;
            std::set<Control *> decoupledControls_;
 
        private:
            void freeMemory();
        };
    }  // namespace control
}  // namespace ompl
 
#endif