PlannerData.cpp
67 const_cast<Control *>(static_cast<const PlannerDataEdgeControl *>(edgemapit.second)->getControl());
void decoupleFromPlanner() override
Creates a deep copy of the states contained in the vertices of this PlannerData structure so that whe...
Definition: PlannerData.cpp:115
virtual bool removeEdge(unsigned int v1, unsigned int v2)
Removes the edge between vertex indexes v1 and v2. Success is returned.
Definition: PlannerData.cpp:540
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
bool hasControls() const override
Returns true if this PlannerData instance has controls associated with it.
Definition: PlannerData.cpp:145
const SpaceInformationPtr & getSpaceInformation() const
Return the instance of SpaceInformation used in this PlannerData.
Definition: PlannerData.cpp:140
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....
Definition: PlannerData.cpp:473
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:134
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