Datatype holding data a planner can expose for debug purposes. More...
#include <PlannerData.h>
Public Member Functions | |
int | recordEdge (const State *s1, const State *s2) |
Record an edge between two states. This function is called by planners to fill states, stateIndex and edges. If the same state/edge is seen multiple times, it is added only once. | |
void | tagState (const State *s, int tag) |
Assign a tag to a state. | |
virtual void | clear (void) |
Clear any stored data. | |
virtual void | print (std::ostream &out=std::cout) const |
Print this data to a stream. | |
Public Attributes | |
SpaceInformationPtr | si |
The space information containing the states of the exploration datastructure. | |
std::vector< const State * > | states |
The list of states in the current exploration datastructure. | |
std::vector< int > | tags |
For every state, a tag may be associated by the planner. For example, a bi-directional planner may assign one tag for states in the start tree and another for states in the goal tree. By default the tag has value 0. | |
std::map< const State *, unsigned int > | stateIndex |
The same list of states as above, provided for convenience, in a manner that allows finding out a state's index from its pointer value. | |
std::vector< std::vector < unsigned int > > | edges |
For each i, edges[i] contains the values edges[i][j] such that states[i] connects to every states[edges[i][j]]. | |
std::map< std::string, std::string > | properties |
Any extra properties (key-value pairs) the planner can set. |
Datatype holding data a planner can expose for debug purposes.
Definition at line 52 of file PlannerData.h.
Record an edge between two states. This function is called by planners to fill states, stateIndex and edges. If the same state/edge is seen multiple times, it is added only once.
Definition at line 67 of file PlannerData.cpp.