PlannerDataVertexAnnotated.cpp

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/* Author: Andreas Orthey */
 
#include <ompl/multilevel/datastructures/PlannerDataVertexAnnotated.h>
 
using namespace ompl::multilevel;
 
PlannerDataVertexAnnotated::PlannerDataVertexAnnotated(const ompl::base::State *state)
  : PlannerDataVertex(state), stateBase_(state), stateTotal_(nullptr), si_(nullptr)
{
    totalStateIsSet = false;
}
 
PlannerDataVertexAnnotated::PlannerDataVertexAnnotated(const PlannerDataVertexAnnotated &rhs)
  : PlannerDataVertex(rhs.getBaseState(), rhs.tag_)
{
    level_ = rhs.getLevel();
    maxLevel_ = rhs.getMaxLevel();
    component_ = rhs.getComponent();
    stateBase_ = rhs.getBaseState();
    stateTotal_ = rhs.getStateNonConst();
    si_ = rhs.getSpaceInformationPtr();
}
 
PlannerDataVertexAnnotated::~PlannerDataVertexAnnotated()
{
    if (totalStateIsSet)
    {
        si_->freeState(stateTotal_);
    }
}
 
ompl::base::PlannerDataVertex *PlannerDataVertexAnnotated::clone() const
{
    return new PlannerDataVertexAnnotated(*this);
}
 
void PlannerDataVertexAnnotated::setComponent(unsigned int component)
{
    component_ = component;
}
 
ompl::base::SpaceInformationPtr PlannerDataVertexAnnotated::getSpaceInformationPtr() const
{
    return si_;
}
 
unsigned int PlannerDataVertexAnnotated::getComponent() const
{
    return component_;
}
 
void PlannerDataVertexAnnotated::setLevel(unsigned int level)
{
    level_ = level;
}
 
unsigned int PlannerDataVertexAnnotated::getLevel() const
{
    return level_;
}
 
void PlannerDataVertexAnnotated::setMaxLevel(unsigned int level)
{
    maxLevel_ = level;
}
 
unsigned int PlannerDataVertexAnnotated::getMaxLevel() const
{
    return maxLevel_;
}
 
const ompl::base::State *PlannerDataVertexAnnotated::getState() const
{
    if (totalStateIsSet)
        return stateTotal_;
    else
        return state_;
}
 
ompl::base::State *PlannerDataVertexAnnotated::getStateNonConst() const
{
    return stateTotal_;
}
 
const ompl::base::State *PlannerDataVertexAnnotated::getBaseState() const
{
    return stateBase_;
}
 
void PlannerDataVertexAnnotated::setBaseState(const ompl::base::State *s)
{
    stateBase_ = s;
}
 
void PlannerDataVertexAnnotated::setTotalState(ompl::base::State *s, ompl::base::SpaceInformationPtr si)
{
    stateTotal_ = s;
    si_ = si;
    totalStateIsSet = true;
}
 
bool PlannerDataVertexAnnotated::operator==(const PlannerDataVertex &rhs) const
{
    const PlannerDataVertexAnnotated &rhsA = static_cast<const PlannerDataVertexAnnotated &>(rhs);
    bool equiv = (getLevel() == rhsA.getLevel() && getBaseState() == rhsA.getBaseState());
    return equiv;
}
 
std::ostream &operator<<(std::ostream &out, const PlannerDataVertexAnnotated &v)
{
    out << "AnnotatedVertex";
    out << " ->level " << v.getLevel() << "/" << v.getMaxLevel();
    out << " ->component " << v.getComponent();
    out << std::endl;
    return out;
}