void ompl::control::KPIECE1::getPlannerData(base::PlannerData &data) const
{
Planner::getPlannerData(data);
Grid::CellArray cells;
tree_.grid.getCells(cells);
if (PlannerData *cpd = dynamic_cast<control::PlannerData*>(&data))
{
double delta = siC_->getPropagationStepSize();
for (unsigned int i = 0 ; i < cells.size() ; ++i)
for (unsigned int j = 0 ; j < cells[i]->data->motions.size() ; ++j)
{
const Motion* m = cells[i]->data->motions[j];
if (m->parent)
cpd->recordEdge(m->parent->state, m->state, m->control, m->steps * delta);
else
cpd->recordEdge(NULL, m->state, NULL, 0.);
cpd->tagState(m->state, cells[i]->border ? 2 : 1);
}
}
else
{
for (unsigned int i = 0 ; i < cells.size() ; ++i)
for (unsigned int j = 0 ; j < cells[i]->data->motions.size() ; ++j)
{
const Motion* m = cells[i]->data->motions[j];
data.recordEdge(m->parent ? m->parent->state : NULL, m->state);
data.tagState(m->state, cells[i]->border ? 2 : 1);
}
}
}
void ompl::control::KPIECE1::getPlannerData(base::PlannerData &data) const
{
Planner::getPlannerData(data);
Grid::CellArray cells;
tree_.grid.getCells(cells);
double delta = siC_->getPropagationStepSize();
if (lastGoalMotion_)
data.addGoalVertex(base::PlannerDataVertex(lastGoalMotion_->state));
for (unsigned int i = 0 ; i < cells.size() ; ++i)
{
for (unsigned int j = 0 ; j < cells[i]->data->motions.size() ; ++j)
{
const Motion* m = cells[i]->data->motions[j];
if (m->parent)
{
if (data.hasControls())
data.addEdge(base::PlannerDataVertex (m->parent->state),
base::PlannerDataVertex (m->state, cells[i]->border ? 2 : 1),
control::PlannerDataEdgeControl (m->control, m->steps * delta));
else
data.addEdge(base::PlannerDataVertex (m->parent->state),
base::PlannerDataVertex (m->state, cells[i]->border ? 2 : 1));
}
else
data.addStartVertex(base::PlannerDataVertex (m->state, cells[i]->border ? 2 : 1));
// A state created as a parent first may have an improper tag variable
data.tagState(m->state, cells[i]->border ? 2 : 1);
}
}
}
