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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>

/// @cond IGNORE
// 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);
}

typedef 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> > > PlannerDataGraph;
/// @endcond

/// \brief Wrapper class for the Boost.Graph representation of the PlannerData.
/// This class inherits from a boost::adjacency_list Graph structure.
class ompl::base::PlannerData::Graph : public PlannerDataGraph
{
public:
    /// \brief Data type for the Boost.Graph representation.
    typedef PlannerDataGraph Type;

    /// \brief Boost.Graph vertex descriptor
    typedef boost::graph_traits<Type>::vertex_descriptor  Vertex;
    /// \brief Boost.Graph edge descriptor
    typedef boost::graph_traits<Type>::edge_descriptor    Edge;
    /// \brief Boost.Graph vertex iterator
    typedef boost::graph_traits<Type>::vertex_iterator    VIterator;
    /// \brief Boost.Graph edge iterator
    typedef boost::graph_traits<Type>::edge_iterator      EIterator;
    /// \brief Boost.Graph input edge iterator
    typedef boost::graph_traits<Type>::in_edge_iterator   IEIterator;
    /// \brief Boost.Graph output edge iterator
    typedef boost::graph_traits<Type>::out_edge_iterator  OEIterator;
    /// \brief Boost.Graph adjacency iterator
    typedef boost::graph_traits<Type>::adjacency_iterator AdjIterator;
};

#endif
