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PlannerDataGraph.h
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34
35/* Author: Ryan Luna */
36
37#ifndef OMPL_BASE_PLANNER_DATA_GRAPH_
38#define OMPL_BASE_PLANNER_DATA_GRAPH_
39
40#include "ompl/base/PlannerData.h"
41#include "ompl/base/Cost.h"
42
43#include <boost/graph/adjacency_list.hpp>
44#include <boost/graph/graph_traits.hpp>
45
47// Installing custom vertex and edge properties
48enum edge_type_t
49{
50 edge_type
51};
52enum vertex_type_t
53{
54 vertex_type
55};
56namespace boost
57{
58 BOOST_INSTALL_PROPERTY(edge, type);
59 BOOST_INSTALL_PROPERTY(vertex, type);
60}
61
62using PlannerDataGraph =
63 boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS,
64 boost::property<vertex_type_t, ompl::base::PlannerDataVertex *,
65 boost::property<boost::vertex_index_t, unsigned int>>,
66 boost::property<edge_type_t, ompl::base::PlannerDataEdge *,
67 boost::property<boost::edge_weight_t, ompl::base::Cost>>>;
69
72class ompl::base::PlannerData::Graph : public PlannerDataGraph
73{
74public:
76 using Type = PlannerDataGraph;
77
79 using Vertex = boost::graph_traits<Type>::vertex_descriptor;
81 using Edge = boost::graph_traits<Type>::edge_descriptor;
83 using VIterator = boost::graph_traits<Type>::vertex_iterator;
85 using EIterator = boost::graph_traits<Type>::edge_iterator;
87 using IEIterator = boost::graph_traits<Type>::in_edge_iterator;
89 using OEIterator = boost::graph_traits<Type>::out_edge_iterator;
91 using AdjIterator = boost::graph_traits<Type>::adjacency_iterator;
92};
93
94#endif
Base class for a PlannerData edge.
Definition: PlannerData.h:127
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:59
Wrapper class for the Boost.Graph representation of the PlannerData. This class inherits from a boost...
boost::graph_traits< Type >::edge_iterator EIterator
Boost.Graph edge iterator.
boost::graph_traits< Type >::vertex_descriptor Vertex
Boost.Graph vertex descriptor.
PlannerDataGraph Type
Data type for the Boost.Graph representation.
boost::graph_traits< Type >::out_edge_iterator OEIterator
Boost.Graph output edge iterator.
boost::graph_traits< Type >::vertex_iterator VIterator
Boost.Graph vertex iterator.
boost::graph_traits< Type >::in_edge_iterator IEIterator
Boost.Graph input edge iterator.
boost::graph_traits< Type >::adjacency_iterator AdjIterator
Boost.Graph adjacency iterator.
boost::graph_traits< Type >::edge_descriptor Edge
Boost.Graph edge descriptor.