E* Interpolated Graph Replanner Wed Dec 12 18:55:40 2007
00001 /* 00002 * Copyright (C) 2005 Roland Philippsen <roland dot philippsen at gmx net> 00003 * 00004 * This program is free software; you can redistribute it and/or modify 00005 * it under the terms of the GNU General Public License as published by 00006 * the Free Software Foundation; either version 2 of the License, or 00007 * (at your option) any later version. 00008 * 00009 * This program is distributed in the hope that it will be useful, 00010 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 * GNU General Public License for more details. 00013 * 00014 * You should have received a copy of the GNU General Public License 00015 * along with this program; if not, write to the Free Software 00016 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 00017 * USA 00018 */ 00019 00020 00021 #ifndef ESTAR_BASE_HPP 00022 #define ESTAR_BASE_HPP 00023 00024 00025 #include <estar/numeric.hpp> 00026 #include <boost/graph/adjacency_list.hpp> 00027 00028 00029 namespace estar { 00030 00031 00036 typedef enum { 00038 NONE, // 0 = b00 00040 OPEN, // 1 = b01 00042 GOAL, // 2 = b10 00044 OPNG // 3 = b11 00045 } flag_t; 00046 00047 00052 const char * flag_name(flag_t p); 00053 00054 00056 // cspace traits 00057 00059 typedef boost::vecS cspace_OutEdgeListS; 00060 00062 typedef boost::vecS cspace_VertexListS; 00063 00065 typedef boost::undirectedS cspace_DirectedS; 00066 00068 typedef boost::adjacency_list_traits<cspace_OutEdgeListS, 00069 cspace_VertexListS, 00070 cspace_DirectedS> cspace_traits; 00071 00073 typedef cspace_traits::vertex_descriptor vertex_t; 00074 00075 00077 // vertex properties 00078 00080 struct value_p { typedef boost::vertex_property_tag kind; }; 00081 00083 struct meta_p { typedef boost::vertex_property_tag kind; }; 00084 00086 struct rhs_p { typedef boost::vertex_property_tag kind; }; 00087 00089 struct flag_p { typedef boost::vertex_property_tag kind; }; 00090 00091 00093 // cspace graph and supplementary traits 00094 00096 typedef boost::property<value_p, double, 00097 boost::property<meta_p, double, 00098 boost::property<rhs_p, double, 00099 boost::property<flag_p, flag_t 00100 > > > > cspace_vertex_property; 00101 00103 typedef boost::adjacency_list<cspace_OutEdgeListS, 00104 cspace_VertexListS, 00105 cspace_DirectedS, 00106 cspace_vertex_property> cspace_t; 00107 00109 typedef boost::graph_traits<cspace_t>::adjacency_iterator adjacency_it; 00110 00112 typedef boost::graph_traits<cspace_t>::vertex_iterator vertex_it; 00113 00114 00116 // property map types 00117 00119 typedef 00120 boost::property_map<cspace_t, boost::vertex_index_t>::type vertexid_map_t; 00121 00123 typedef boost::property_map<cspace_t, value_p>::type value_map_t; 00124 00126 typedef boost::property_map<cspace_t, meta_p>::type meta_map_t; 00127 00129 typedef boost::property_map<cspace_t, rhs_p>::type rhs_map_t; 00130 00132 typedef boost::property_map<cspace_t, flag_p>::type flag_map_t; 00133 00134 } // namespace estar 00135 00136 #endif // ESTAR_BASE_HPP