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PlannerData.cpp
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154 lines (133 loc) · 5.23 KB
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2012, Rice University
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Rice University nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Ryan Luna */
#include "ompl/control/PlannerData.h"
ompl::control::PlannerData::PlannerData(const SpaceInformationPtr &siC)
: base::PlannerData(std::static_pointer_cast<base::SpaceInformation>(siC)), siC_(siC)
{
}
ompl::control::PlannerData::~PlannerData()
{
freeMemory();
}
bool ompl::control::PlannerData::removeVertex(unsigned int vIndex)
{
return ompl::base::PlannerData::removeVertex(vIndex);
}
bool ompl::control::PlannerData::removeVertex(const ompl::base::PlannerDataVertex &st)
{
unsigned int index = vertexIndex(st);
if (index == INVALID_INDEX)
return false;
std::map<unsigned int, const base::PlannerDataEdge *> edgeMap;
getEdges(index, edgeMap);
for (auto &edgemapit : edgeMap)
{
// Before deleting the edge, free the control associated with it, if it was decoupled
auto *ctrl =
const_cast<Control *>(static_cast<const PlannerDataEdgeControl *>(edgemapit.second)->getControl());
auto it = decoupledControls_.find(ctrl);
if (it != decoupledControls_.end())
{
siC_->freeControl(*it);
decoupledControls_.erase(it);
}
}
return ompl::base::PlannerData::removeVertex(index);
}
bool ompl::control::PlannerData::removeEdge(unsigned int v1, unsigned int v2)
{
return ompl::base::PlannerData::removeEdge(v1, v2);
}
bool ompl::control::PlannerData::removeEdge(const ompl::base::PlannerDataVertex &v1,
const ompl::base::PlannerDataVertex &v2)
{
unsigned int index1, index2;
index1 = vertexIndex(v1);
index2 = vertexIndex(v2);
if (index1 == INVALID_INDEX || index2 == INVALID_INDEX)
return false;
// Before deleting the edge, free the control associated with it, if it was decoupled
auto &edge = static_cast<PlannerDataEdgeControl &>(getEdge(index1, index2));
auto *ctrl = const_cast<Control *>(edge.getControl());
auto it = decoupledControls_.find(ctrl);
if (it != decoupledControls_.end())
{
siC_->freeControl(*it);
decoupledControls_.erase(it);
}
return ompl::base::PlannerData::removeEdge(index1, index2);
}
void ompl::control::PlannerData::clear()
{
ompl::base::PlannerData::clear();
freeMemory();
decoupledControls_.clear();
}
void ompl::control::PlannerData::decoupleFromPlanner()
{
ompl::base::PlannerData::decoupleFromPlanner();
for (unsigned int i = 0; i < numVertices(); ++i)
{
for (unsigned int j = 0; j < numVertices(); ++j)
{
if (edgeExists(i, j))
{
auto &edge = static_cast<PlannerDataEdgeControl &>(getEdge(i, j));
// If this edge's control is not in the decoupled list, clone it and add it
auto *ctrl = const_cast<Control *>(edge.getControl());
if (decoupledControls_.find(ctrl) == decoupledControls_.end())
{
Control *clone = siC_->cloneControl(ctrl);
decoupledControls_.insert(clone);
// Replacing the shallow control pointer with our shiny new clone
edge.c_ = clone;
}
}
}
}
}
const ompl::control::SpaceInformationPtr &ompl::control::PlannerData::getSpaceInformation() const
{
return siC_;
}
bool ompl::control::PlannerData::hasControls() const
{
return true;
}
void ompl::control::PlannerData::freeMemory()
{
for (auto decoupledControl : decoupledControls_)
siC_->freeControl(decoupledControl);
}