00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, Rice University 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Rice University nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 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