PlannerData.cpp
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34 
35 /* Author: Ryan Luna */
36 
37 #include "ompl/control/PlannerData.h"
38 
40  : base::PlannerData(std::static_pointer_cast<base::SpaceInformation>(siC)), siC_(siC)
41 {
42 }
43 
45 {
46  freeMemory();
47 }
48 
50 {
52 }
53 
55 {
56  unsigned int index = vertexIndex(st);
57  if (index == INVALID_INDEX)
58  return false;
59 
60  std::map<unsigned int, const base::PlannerDataEdge *> edgeMap;
61  getEdges(index, edgeMap);
62 
63  for (auto &edgemapit : edgeMap)
64  {
65  // Before deleting the edge, free the control associated with it, if it was decoupled
66  auto *ctrl =
67  const_cast<Control *>(static_cast<const PlannerDataEdgeControl *>(edgemapit.second)->getControl());
68  auto it = decoupledControls_.find(ctrl);
69  if (it != decoupledControls_.end())
70  {
71  siC_->freeControl(*it);
72  decoupledControls_.erase(it);
73  }
74  }
75 
77 }
78 
79 bool ompl::control::PlannerData::removeEdge(unsigned int v1, unsigned int v2)
80 {
82 }
83 
86 {
87  unsigned int index1, index2;
88  index1 = vertexIndex(v1);
89  index2 = vertexIndex(v2);
90 
91  if (index1 == INVALID_INDEX || index2 == INVALID_INDEX)
92  return false;
93 
94  // Before deleting the edge, free the control associated with it, if it was decoupled
95  auto &edge = static_cast<PlannerDataEdgeControl &>(getEdge(index1, index2));
96  auto *ctrl = const_cast<Control *>(edge.getControl());
97  auto it = decoupledControls_.find(ctrl);
98  if (it != decoupledControls_.end())
99  {
100  siC_->freeControl(*it);
101  decoupledControls_.erase(it);
102  }
103 
104  return ompl::base::PlannerData::removeEdge(index1, index2);
105 }
106 
108 {
110 
111  freeMemory();
112  decoupledControls_.clear();
113 }
114 
116 {
118 
119  for (unsigned int i = 0; i < numVertices(); ++i)
120  {
121  for (unsigned int j = 0; j < numVertices(); ++j)
122  {
123  if (edgeExists(i, j))
124  {
125  auto &edge = static_cast<PlannerDataEdgeControl &>(getEdge(i, j));
126  // If this edge's control is not in the decoupled list, clone it and add it
127  auto *ctrl = const_cast<Control *>(edge.getControl());
128  if (decoupledControls_.find(ctrl) == decoupledControls_.end())
129  {
130  Control *clone = siC_->cloneControl(ctrl);
131  decoupledControls_.insert(clone);
132  // Replacing the shallow control pointer with our shiny new clone
133  edge.c_ = clone;
134  }
135  }
136  }
137  }
138 }
139 
141 {
142  return siC_;
143 }
144 
146 {
147  return true;
148 }
149 
150 void ompl::control::PlannerData::freeMemory()
151 {
152  for (auto decoupledControl : decoupledControls_)
153  siC_->freeControl(decoupledControl);
154 }
void decoupleFromPlanner() override
Creates a deep copy of the states contained in the vertices of this PlannerData structure so that whe...
virtual bool removeEdge(unsigned int v1, unsigned int v2)
Removes the edge between vertex indexes v1 and v2. Success is returned.
Definition of an abstract control.
Definition: Control.h:111
A shared pointer wrapper for ompl::base::SpaceInformation.
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::SpaceInformation.
bool removeEdge(unsigned int v1, unsigned int v2) override
Removes the edge between vertex indexes v1 and v2. Success is returned.
Definition: PlannerData.cpp:79
virtual void decoupleFromPlanner()
Creates a deep copy of the states contained in the vertices of this PlannerData structure so that whe...
Definition: PlannerData.cpp:80
bool removeVertex(const base::PlannerDataVertex &st) override
Removes the vertex associated with the given data. If the vertex does not exist, false is returned....
Definition: PlannerData.cpp:54
~PlannerData() override
Destructor.
Definition: PlannerData.cpp:44
bool hasControls() const override
Returns true if this PlannerData instance has controls associated with it.
const SpaceInformationPtr & getSpaceInformation() const
Return the instance of SpaceInformation used in this PlannerData.
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:185
virtual bool removeVertex(const PlannerDataVertex &st)
Removes the vertex associated with the given data. If the vertex does not exist, false is returned....
Space information containing necessary information for planning with controls. setup() needs to be ca...
virtual void clear()
Clears the entire data structure.
Definition: PlannerData.cpp:74
void clear() override
Clears the entire data structure.
PlannerData(const SpaceInformationPtr &siC)
Constructor. Accepts a SpaceInformationPtr for the space planned in.
Definition: PlannerData.cpp:39
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:122