All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends
PlannerDataGraph.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2012, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
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 
42 #include <boost/graph/adjacency_list.hpp>
43 #include <boost/graph/graph_traits.hpp>
44 
46 // Installing custom vertex and edge properties
47 enum edge_type_t { edge_type };
48 enum vertex_type_t { vertex_type };
49 namespace boost
50 {
51  BOOST_INSTALL_PROPERTY(edge, type);
52  BOOST_INSTALL_PROPERTY(vertex, type);
53 }
54 
55 typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS,
56  boost::property<vertex_type_t, ompl::base::PlannerDataVertex*,
57  boost::property<boost::vertex_index_t, unsigned int> >,
58  boost::property<edge_type_t, ompl::base::PlannerDataEdge*,
59  boost::property<boost::edge_weight_t, double> > > PlannerDataGraph;
61 
64 class ompl::base::PlannerData::Graph : public PlannerDataGraph
65 {
66 public:
68  typedef PlannerDataGraph Type;
69 
71  typedef boost::graph_traits<Type>::vertex_descriptor Vertex;
73  typedef boost::graph_traits<Type>::edge_descriptor Edge;
75  typedef boost::graph_traits<Type>::vertex_iterator VIterator;
77  typedef boost::graph_traits<Type>::edge_iterator EIterator;
79  typedef boost::graph_traits<Type>::in_edge_iterator IEIterator;
81  typedef boost::graph_traits<Type>::out_edge_iterator OEIterator;
83  typedef boost::graph_traits<Type>::adjacency_iterator AdjIterator;
84 };
85 
86 #endif