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 #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
48 enum edge_type_t
49 {
50  edge_type
51 };
52 enum vertex_type_t
53 {
54  vertex_type
55 };
56 namespace boost
57 {
58  BOOST_INSTALL_PROPERTY(edge, type);
59  BOOST_INSTALL_PROPERTY(vertex, type);
60 }
61 
62 using 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 
72 class ompl::base::PlannerData::Graph : public PlannerDataGraph
73 {
74 public:
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
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 >::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.
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:58
PlannerDataGraph Type
Data type for the Boost.Graph representation.
boost::graph_traits< Type >::vertex_descriptor Vertex
Boost.Graph vertex descriptor.
boost::graph_traits< Type >::edge_iterator EIterator
Boost.Graph edge iterator.
boost::graph_traits< Type >::out_edge_iterator OEIterator
Boost.Graph output edge iterator.
Base class for a PlannerData edge.
Definition: PlannerData.h:126