Program Listing for File PlannerDataVertexAnnotated.h

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/* Author: Andreas Orthey */

#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_SRC_VERTEX_ANNOTATED_
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_SRC_VERTEX_ANNOTATED_

#include <ompl/base/PlannerData.h>
#include <boost/serialization/export.hpp>

namespace ompl
{
    namespace multilevel
    {
        class PlannerDataVertexAnnotated : public ompl::base::PlannerDataVertex
        {
            // If new elements are added,
            // you need to update the clone/getstate functions!
        public:
            PlannerDataVertexAnnotated(const ompl::base::State *state);

            PlannerDataVertexAnnotated(const PlannerDataVertexAnnotated &rhs);
            virtual ~PlannerDataVertexAnnotated() override;
            virtual PlannerDataVertex *clone() const override;

            void setLevel(unsigned int level_);
            unsigned int getLevel() const;

            void setMaxLevel(unsigned int level_);
            unsigned int getMaxLevel() const;

            void setComponent(unsigned int component_);
            unsigned int getComponent() const;

            void setTotalState(ompl::base::State *s, ompl::base::SpaceInformationPtr si);

            void setBaseState(const ompl::base::State *s);

            virtual const ompl::base::State *getState() const override;

            ompl::base::State *getStateNonConst() const;

            const ompl::base::State *getBaseState() const;

            ompl::base::SpaceInformationPtr getSpaceInformationPtr() const;

            virtual bool operator==(const PlannerDataVertex &rhs) const override;

            friend std::ostream &operator<<(std::ostream &, const PlannerDataVertexAnnotated &);

        protected:
            unsigned int level_{0};

            unsigned int maxLevel_{1};

            unsigned int component_{0};

            bool totalStateIsSet{false};

            const ompl::base::State *stateBase_{nullptr};

            ompl::base::State *stateTotal_{nullptr};

            ompl::base::SpaceInformationPtr si_{nullptr};
        };

    }  // namespace multilevel
}  // namespace ompl
#endif