PlannerDataVertexAnnotated.h

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2019, University of Stuttgart
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the University of Stuttgart nor the names
 *     of its contributors may be used to endorse or promote products
 *     derived from this software without specific prior written
 *     permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
/* Author: Andreas Orthey */
 
#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_SRC_VERTEX_ANNOTATED_
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_SRC_VERTEX_ANNOTATED_
 
#include <ompl/base/PlannerData.h>
#include <boost/serialization/export.hpp>
 
namespace ompl
{
    namespace multilevel
    {
        class PlannerDataVertexAnnotated : public ompl::base::PlannerDataVertex
        {
            // If new elements are added,
            // you need to update the clone/getstate functions!
        public:
            PlannerDataVertexAnnotated(const ompl::base::State *state);
 
            PlannerDataVertexAnnotated(const PlannerDataVertexAnnotated &rhs);
            virtual ~PlannerDataVertexAnnotated() override;
            virtual PlannerDataVertex *clone() const override;
 
            void setLevel(unsigned int level_);
            unsigned int getLevel() const;
 
            void setMaxLevel(unsigned int level_);
            unsigned int getMaxLevel() const;
 
            void setComponent(unsigned int component_);
            unsigned int getComponent() const;
 
            void setTotalState(ompl::base::State *s, ompl::base::SpaceInformationPtr si);
 
            void setBaseState(const ompl::base::State *s);
 
            virtual const ompl::base::State *getState() const override;
 
            ompl::base::State *getStateNonConst() const;
 
            const ompl::base::State *getBaseState() const;
 
            ompl::base::SpaceInformationPtr getSpaceInformationPtr() const;
 
            virtual bool operator==(const PlannerDataVertex &rhs) const override;
 
            friend std::ostream &operator<<(std::ostream &, const PlannerDataVertexAnnotated &);
 
        protected:
            unsigned int level_{0};
 
            unsigned int maxLevel_{1};
 
            unsigned int component_{0};
 
            bool totalStateIsSet{false};
 
            const ompl::base::State *stateBase_{nullptr};
 
            ompl::base::State *stateTotal_{nullptr};
 
            ompl::base::SpaceInformationPtr si_{nullptr};
        };
 
    }  // namespace multilevel
}  // namespace ompl
#endif