PlannerData.h
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2011, Rice University
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the Rice University nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Author: Mark Moll */
36
37#ifndef OMPL_CONTROL_PLANNER_DATA_
38#define OMPL_CONTROL_PLANNER_DATA_
39
40#include "ompl/base/PlannerData.h"
41#include "ompl/control/SpaceInformation.h"
42#include "ompl/control/Control.h"
43#include <boost/serialization/base_object.hpp>
44
45namespace ompl
46{
47 namespace control
48 {
61 {
62 public:
64 PlannerDataEdgeControl(const Control *c, double duration) : c_(c), duration_(duration)
65 {
66 }
69 : c_(rhs.c_), duration_(rhs.duration_)
70 {
71 }
72
73 ~PlannerDataEdgeControl() override = default;
74
75 base::PlannerDataEdge *clone() const override
76 {
77 return static_cast<base::PlannerDataEdge *>(new PlannerDataEdgeControl(*this));
78 }
79
81 const Control *getControl() const
82 {
83 return c_;
84 }
86 double getDuration() const
87 {
88 return duration_;
89 }
90
91 bool operator==(const PlannerDataEdge &rhs) const override
92 {
93 const auto *rhsc = static_cast<const PlannerDataEdgeControl *>(&rhs);
94 if (c_ == rhsc->c_)
95 return static_cast<const PlannerDataEdge>(*this) == rhs;
96 return false;
97 }
98
99 protected:
100 friend class boost::serialization::access;
101 friend class PlannerDataStorage;
102 friend class PlannerData;
103
104 PlannerDataEdgeControl() = default;
105
106 template <class Archive>
107 void serialize(Archive &ar, const unsigned int /*version*/)
108 {
109 ar &boost::serialization::base_object<base::PlannerDataEdge>(*this);
110 ar &duration_;
111 // Serializing the control is handled by control::PlannerDataStorage
112 }
113
114 const Control *c_{nullptr};
115 double duration_;
116 };
117
122 {
123 public:
127 ~PlannerData() override;
128
132 bool removeVertex(const base::PlannerDataVertex &st) override;
136 bool removeVertex(unsigned int vIndex) override;
137
139 bool removeEdge(unsigned int v1, unsigned int v2) override;
142 bool removeEdge(const base::PlannerDataVertex &v1, const base::PlannerDataVertex &v2) override;
143
145 void clear() override;
146
154 void decoupleFromPlanner() override;
155
158
160 bool hasControls() const override;
161
162 protected:
167 std::set<Control *> decoupledControls_;
168
169 private:
170 void freeMemory();
171 };
172 }
173}
174
175#endif
Base class for a PlannerData edge.
Definition: PlannerData.h:127
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:59
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract control.
Definition: Control.h:48
Representation of an edge in PlannerData for planning with controls. This structure encodes a specifi...
Definition: PlannerData.h:61
const Control * getControl() const
Return the control associated with this edge.
Definition: PlannerData.h:81
double getDuration() const
Return the duration associated with this edge.
Definition: PlannerData.h:86
base::PlannerDataEdge * clone() const override
Return a clone of this object, allocated from the heap.
Definition: PlannerData.h:75
PlannerDataEdgeControl(const PlannerDataEdgeControl &rhs)
Copy constructor.
Definition: PlannerData.h:68
PlannerDataEdgeControl(const Control *c, double duration)
Constructor. Accepts a control pointer and a duration.
Definition: PlannerData.h:64
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:122
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
std::set< Control * > decoupledControls_
A list of controls that are allocated during the decoupleFromPlanner method. These controls are freed...
Definition: PlannerData.h:167
PlannerData(const SpaceInformationPtr &siC)
Constructor. Accepts a SpaceInformationPtr for the space planned in.
Definition: PlannerData.cpp:39
void decoupleFromPlanner() override
Creates a deep copy of the states contained in the vertices of this PlannerData structure so that whe...
void clear() override
Clears the entire data structure.
const SpaceInformationPtr & getSpaceInformation() const
Return the instance of SpaceInformation used in this PlannerData.
bool hasControls() const override
Returns true if this PlannerData instance has controls associated with it.
~PlannerData() override
Destructor.
Definition: PlannerData.cpp:44
SpaceInformationPtr siC_
The instance of control::SpaceInformation associated with this data.
Definition: PlannerData.h:164
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
Main namespace. Contains everything in this library.