.. _program_listing_file_src_ompl_control_PlannerData.h:

Program Listing for File PlannerData.h
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ompl_control_PlannerData.h>` (``src/ompl/control/PlannerData.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: Mark Moll */
   
   #ifndef OMPL_CONTROL_PLANNER_DATA_
   #define OMPL_CONTROL_PLANNER_DATA_
   
   #include "ompl/base/PlannerData.h"
   #include "ompl/control/SpaceInformation.h"
   #include "ompl/control/Control.h"
   #include <boost/serialization/base_object.hpp>
   
   namespace ompl
   {
       namespace control
       {
           class PlannerDataEdgeControl : public base::PlannerDataEdge
           {
           public:
               PlannerDataEdgeControl(const Control *c, double duration) : c_(c), duration_(duration)
               {
               }
               PlannerDataEdgeControl(const PlannerDataEdgeControl &rhs)
                 : c_(rhs.c_), duration_(rhs.duration_)
               {
               }
   
               ~PlannerDataEdgeControl() override = default;
   
               base::PlannerDataEdge *clone() const override
               {
                   return static_cast<base::PlannerDataEdge *>(new PlannerDataEdgeControl(*this));
               }
   
               const Control *getControl() const
               {
                   return c_;
               }
               double getDuration() const
               {
                   return duration_;
               }
   
               bool operator==(const PlannerDataEdge &rhs) const override
               {
                   const auto *rhsc = static_cast<const PlannerDataEdgeControl *>(&rhs);
                   if (c_ == rhsc->c_)
                       return static_cast<const PlannerDataEdge>(*this) == rhs;
                   return false;
               }
   
           protected:
               friend class boost::serialization::access;
               friend class PlannerDataStorage;
               friend class PlannerData;
   
               PlannerDataEdgeControl() = default;
   
               template <class Archive>
               void serialize(Archive &ar, const unsigned int /*version*/)
               {
                   ar &boost::serialization::base_object<base::PlannerDataEdge>(*this);
                   ar &duration_;
                   // Serializing the control is handled by control::PlannerDataStorage
               }
   
               const Control *c_{nullptr};
               double duration_;
           };
   
           class PlannerData : public base::PlannerData
           {
           public:
               PlannerData(const SpaceInformationPtr &siC);
               ~PlannerData() override;
   
               bool removeVertex(const base::PlannerDataVertex &st) override;
               bool removeVertex(unsigned int vIndex) override;
   
               bool removeEdge(unsigned int v1, unsigned int v2) override;
               bool removeEdge(const base::PlannerDataVertex &v1, const base::PlannerDataVertex &v2) override;
   
               void clear() override;
   
               void decoupleFromPlanner() override;
   
               const SpaceInformationPtr &getSpaceInformation() const;
   
               bool hasControls() const override;
   
           protected:
               SpaceInformationPtr siC_;
               std::set<Control *> decoupledControls_;
   
           private:
               void freeMemory();
           };
       }
   }
   
   #endif