ompl/base/PlannerDataGraph.h
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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 #include "ompl/base/Cost.h"
00042 
00043 #include <boost/graph/adjacency_list.hpp>
00044 #include <boost/graph/graph_traits.hpp>
00045 
00047 // Installing custom vertex and edge properties
00048 enum edge_type_t { edge_type };
00049 enum vertex_type_t { vertex_type };
00050 namespace boost
00051 {
00052     BOOST_INSTALL_PROPERTY(edge, type);
00053     BOOST_INSTALL_PROPERTY(vertex, type);
00054 }
00055 
00056 typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS,
00057                                boost::property<vertex_type_t, ompl::base::PlannerDataVertex*,
00058                                boost::property<boost::vertex_index_t, unsigned int> >,
00059                                boost::property<edge_type_t, ompl::base::PlannerDataEdge*,
00060                                boost::property<boost::edge_weight_t, ompl::base::Cost> > > PlannerDataGraph;
00062 
00065 class ompl::base::PlannerData::Graph : public PlannerDataGraph
00066 {
00067 public:
00069     typedef PlannerDataGraph Type;
00070 
00072     typedef boost::graph_traits<Type>::vertex_descriptor  Vertex;
00074     typedef boost::graph_traits<Type>::edge_descriptor    Edge;
00076     typedef boost::graph_traits<Type>::vertex_iterator    VIterator;
00078     typedef boost::graph_traits<Type>::edge_iterator      EIterator;
00080     typedef boost::graph_traits<Type>::in_edge_iterator   IEIterator;
00082     typedef boost::graph_traits<Type>::out_edge_iterator  OEIterator;
00084     typedef boost::graph_traits<Type>::adjacency_iterator AdjIterator;
00085 };
00086 
00087 #endif
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