Manage loading and storing for a set of states of a specified state space. More...

#include <ompl/base/StateStorage.h>

Inheritance diagram for ompl::base::StateStorage:

Classes
struct	Header
	Information stored at the beginning of the archive. More...

Public Member Functions
	StateStorage (StateSpacePtr space)
	The state space to store states for is specified as argument.

const StateSpacePtr &	getStateSpace () const
	Get the state space this class maintains states for.

void	load (const char *filename)
	Load a set of states from a specified file.

virtual void	load (std::istream &in)
	Load a set of states from a stream.

void	store (const char *filename)
	Save a set of states to a file.

virtual void	store (std::ostream &out)
	Save a set of states to a stream.

virtual void	addState (const State *state)
	Add a state to the set of states maintained by this storage structure. The state is copied to internal storage.

virtual void	generateSamples (unsigned int count)
	Generate count states uniformly at random and store them in this structure.

virtual void	clear ()
	Clear the stored states. This frees all the memory.

std::size_t	size () const
	Return the number of stored states.

const std::vector< const State * > &	getStates () const
	Get the stored states.

State *	getState (unsigned int index)
	Get a particular state for non-const access.

const State *	getState (unsigned int index) const
	Get a particular state.

bool	hasMetadata () const
	Return a flag that indicates whether there is metadata associated to the states in this storage.

void	sort (const std::function< bool(const State , const State )> &op)
	Sort the states according to the less-equal operator op. Metadata is NOT sorted; if metadata was added, the index values of the metadata will not match after the sort.

StateSamplerAllocator	getStateSamplerAllocator () const
	Get a sampler allocator to a sampler that can be specified for a StateSpace, such that all sampled states are actually from this storage structure.

StateSamplerAllocator	getStateSamplerAllocatorRangeUntil (std::size_t until) const
	Get a sampler allocator to a sampler that can be specified for a StateSpace, such that all sampled states are actually from this storage structure at an index less than or equal to until.

StateSamplerAllocator	getStateSamplerAllocatorRangeAfter (std::size_t after) const
	Get a sampler allocator to a sampler that can be specified for a StateSpace, such that all sampled states are actually from this storage structure at an index above or equal to after.

virtual StateSamplerAllocator	getStateSamplerAllocatorRange (std::size_t from, std::size_t to) const
	Get a sampler allocator to a sampler that can be specified for a StateSpace, such that all sampled states are actually from this storage structure at an index in the range [from, to] (inclusive)

virtual void	print (std::ostream &out=std::cout) const
	Output the set of states to a specified stream, in a human readable fashion.

Protected Member Functions
virtual void	loadStates (const Header &h, boost::archive::binary_iarchive &ia)
	Load the states from a binary archive ia, given the loaded header is h.

virtual void	loadMetadata (const Header &h, boost::archive::binary_iarchive &ia)
	Load the state metadata from a binary archive ia, given the loaded header is h. No metadata is actually loaded unless the StateStorageWithMetadata class is used.

virtual void	storeStates (const Header &h, boost::archive::binary_oarchive &oa)
	Store the states to a binary archive oa, given the stored header is h.

virtual void	storeMetadata (const Header &h, boost::archive::binary_oarchive &oa)
	Save the state metadata to a binary archive oa, given the stored header is h. No metadata is actually saved unless the StateStorageWithMetadata class is used.

void	freeMemory ()
	Free the memory allocated for states.

Protected Attributes
StateSpacePtr	space_
	State space that corresponds to maintained states.

std::vector< const State * >	states_
	The list of maintained states.

bool	hasMetadata_
	Flag indicating whether there is metadata associated to the states in this storage.

Detailed Description

Manage loading and storing for a set of states of a specified state space.

Deprecated:: This class is deprecated and will be removed in the future. Please use the improved PlannerDataStorage.

Definition at line 125 of file StateStorage.h.

The documentation for this class was generated from the following files:

ompl/base/StateStorage.h
ompl/base/src/StateStorage.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description