PlannerDataGraph.h

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/* Author: Ryan Luna */
 
#ifndef OMPL_BASE_PLANNER_DATA_GRAPH_
#define OMPL_BASE_PLANNER_DATA_GRAPH_
 
#include "ompl/base/PlannerData.h"
#include "ompl/base/Cost.h"
 
#include <boost/graph/adjacency_list.hpp>
#include <boost/graph/graph_traits.hpp>
 
// Installing custom vertex and edge properties
enum edge_type_t
{
    edge_type
};
enum vertex_type_t
{
    vertex_type
};
namespace boost
{
    BOOST_INSTALL_PROPERTY(edge, type);
    BOOST_INSTALL_PROPERTY(vertex, type);
}
 
using PlannerDataGraph =
    boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS,
                          boost::property<vertex_type_t, ompl::base::PlannerDataVertex *,
                                          boost::property<boost::vertex_index_t, unsigned int>>,
                          boost::property<edge_type_t, ompl::base::PlannerDataEdge *,
                                          boost::property<boost::edge_weight_t, ompl::base::Cost>>>;
 
class ompl::base::PlannerData::Graph : public PlannerDataGraph
{
public:
    using Type = PlannerDataGraph;
 
    using Vertex = boost::graph_traits<Type>::vertex_descriptor;
    using Edge = boost::graph_traits<Type>::edge_descriptor;
    using VIterator = boost::graph_traits<Type>::vertex_iterator;
    using EIterator = boost::graph_traits<Type>::edge_iterator;
    using IEIterator = boost::graph_traits<Type>::in_edge_iterator;
    using OEIterator = boost::graph_traits<Type>::out_edge_iterator;
    using AdjIterator = boost::graph_traits<Type>::adjacency_iterator;
};
 
#endif