37 #ifndef OMPL_BASE_PLANNER_DATA_GRAPH_
38 #define OMPL_BASE_PLANNER_DATA_GRAPH_
40 #include "ompl/base/PlannerData.h"
41 #include "ompl/base/Cost.h"
43 #include <boost/graph/adjacency_list.hpp>
44 #include <boost/graph/graph_traits.hpp>
48 enum edge_type_t { edge_type };
49 enum vertex_type_t { vertex_type };
52 BOOST_INSTALL_PROPERTY(edge, type);
53 BOOST_INSTALL_PROPERTY(vertex, type);
56 typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS,
58 boost::property<boost::vertex_index_t, unsigned int> >,
60 boost::property<boost::edge_weight_t, ompl::base::Cost> > > PlannerDataGraph;
69 typedef PlannerDataGraph
Type;
72 typedef boost::graph_traits<Type>::vertex_descriptor
Vertex;
74 typedef boost::graph_traits<Type>::edge_descriptor
Edge;
76 typedef boost::graph_traits<Type>::vertex_iterator
VIterator;
78 typedef boost::graph_traits<Type>::edge_iterator
EIterator;
80 typedef boost::graph_traits<Type>::in_edge_iterator
IEIterator;
82 typedef boost::graph_traits<Type>::out_edge_iterator
OEIterator;
84 typedef boost::graph_traits<Type>::adjacency_iterator
AdjIterator;
Wrapper class for the Boost.Graph representation of the PlannerData. This class inherits from a boost...
boost::graph_traits< Type >::edge_descriptor Edge
Boost.Graph edge descriptor.
boost::graph_traits< Type >::adjacency_iterator AdjIterator
Boost.Graph adjacency iterator.
PlannerDataGraph Type
Data type for the Boost.Graph representation.
boost::graph_traits< Type >::in_edge_iterator IEIterator
Boost.Graph input edge iterator.
boost::graph_traits< Type >::edge_iterator EIterator
Boost.Graph edge iterator.
boost::graph_traits< Type >::vertex_iterator VIterator
Boost.Graph vertex iterator.
boost::graph_traits< Type >::out_edge_iterator OEIterator
Boost.Graph output edge iterator.
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
boost::graph_traits< Type >::vertex_descriptor Vertex
Boost.Graph vertex descriptor.
Base class for a PlannerData edge.