37 #ifndef OMPL_BASE_PLANNER_DATA_GRAPH_
38 #define OMPL_BASE_PLANNER_DATA_GRAPH_
40 #include "ompl/base/PlannerData.h"
42 #include <boost/graph/adjacency_list.hpp>
43 #include <boost/graph/graph_traits.hpp>
47 enum edge_type_t { edge_type };
48 enum vertex_type_t { vertex_type };
51 BOOST_INSTALL_PROPERTY(edge, type);
52 BOOST_INSTALL_PROPERTY(vertex, type);
55 typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS,
57 boost::property<boost::vertex_index_t, unsigned int> >,
59 boost::property<boost::edge_weight_t, double> > > PlannerDataGraph;
68 typedef PlannerDataGraph
Type;
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;