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src/ompl/base/PlannerDataGraph.h
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00002 * Software License Agreement (BSD License)
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00034 
00035 /* Author: Ryan Luna */
00036 
00037 #ifndef OMPL_BASE_PLANNER_DATA_GRAPH_
00038 #define OMPL_BASE_PLANNER_DATA_GRAPH_
00039 
00040 #include "ompl/base/PlannerData.h"
00041 
00042 #include <boost/graph/adjacency_list.hpp>
00043 #include <boost/graph/graph_traits.hpp>
00044 
00046 // Installing custom vertex and edge properties
00047 enum edge_type_t { edge_type };
00048 enum vertex_type_t { vertex_type };
00049 namespace boost
00050 {
00051     BOOST_INSTALL_PROPERTY(edge, type);
00052     BOOST_INSTALL_PROPERTY(vertex, type);
00053 }
00054 
00055 typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS,
00056                                boost::property<vertex_type_t, ompl::base::PlannerDataVertex*,
00057                                boost::property<boost::vertex_index_t, unsigned int> >,
00058                                boost::property<edge_type_t, ompl::base::PlannerDataEdge*,
00059                                boost::property<boost::edge_weight_t, double> > > PlannerDataGraph;
00061 
00064 class ompl::base::PlannerData::Graph : public PlannerDataGraph
00065 {
00066 public:
00068     typedef PlannerDataGraph Type;
00069 
00071     typedef boost::graph_traits<Type>::vertex_descriptor  Vertex;
00073     typedef boost::graph_traits<Type>::edge_descriptor    Edge;
00075     typedef boost::graph_traits<Type>::vertex_iterator    VIterator;
00077     typedef boost::graph_traits<Type>::edge_iterator      EIterator;
00079     typedef boost::graph_traits<Type>::in_edge_iterator   IEIterator;
00081     typedef boost::graph_traits<Type>::out_edge_iterator  OEIterator;
00083     typedef boost::graph_traits<Type>::adjacency_iterator AdjIterator;
00084 };
00085 
00086 #endif
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