State storage that allows storing state metadata as well. More...

#include <ompl/base/StateStorage.h>

Inheritance diagram for ompl::base::StateStorageWithMetadata< M >:

Public Types
using	MetadataType = M
	the datatype of the metadata

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

void	addState (const State *state) override
	Add a state to the set of states maintained by this storage structure. The state is copied to internal storage and metadata with default values is stored as well.

virtual void	addState (const State *state, const M &metadata)
	Add a state to the set of states maintained by this storage structure. The state is copied to internal storage. Corresponding metadata is stored too.

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

const M &	getMetadata (unsigned int index) const
	Get const access to the metadata of a state at a particular index.

M &	getMetadata (unsigned int index)
	Get write access to the metadata of a state at a particular index.

Public Member Functions inherited from ompl::base::StateStorage
	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	generateSamples (unsigned int count)
	Generate count states uniformly at random and store them in this structure.

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
void	loadMetadata (const Header &, boost::archive::binary_iarchive &ia) override
	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.

void	storeMetadata (const Header &, boost::archive::binary_oarchive &oa) override
	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.

Protected Member Functions inherited from ompl::base::StateStorage
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	storeStates (const Header &h, boost::archive::binary_oarchive &oa)
	Store the states to a binary archive oa, given the stored header is h.

void	freeMemory ()
	Free the memory allocated for states.

Protected Attributes
std::vector< M >	metadata_
	The metadata for each state.

Protected Attributes inherited from ompl::base::StateStorage
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

template<typename M>
class ompl::base::StateStorageWithMetadata< M >

State storage that allows storing state metadata as well.

Template Parameters

M	the datatype for the stored metadata. boost::serialization operation needs to be defined

Definition at line 278 of file StateStorage.h.

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

ompl/base/StateStorage.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename M> class ompl::base::StateStorageWithMetadata< M >

template<typename M>
class ompl::base::StateStorageWithMetadata< M >