30 #ifndef _RL_PLAN_RRT_H_
31 #define _RL_PLAN_RRT_H_
33 #include <boost/graph/adjacency_list.hpp>
34 #include <CGAL/Search_traits.h>
56 Rrt(const ::std::size_t& trees = 1);
60 virtual ::std::string
getName()
const;
97 typedef ::boost::adjacency_list<
100 ::boost::bidirectionalS,
102 ::boost::no_property,
106 typedef ::boost::adjacency_list_traits<
109 ::boost::bidirectionalS,
113 typedef ::std::pair< const ::rl::math::Vector*, Vertex >
QueryItem;
147 typedef ::CGAL::Search_traits< ::rl::math::Real, QueryItem, const ::rl::math::Real*, CartesianIterator >
SearchTraits;
162 typedef ::boost::graph_traits< Tree >::edge_descriptor
Edge;
172 typedef ::std::pair< Vertex, ::rl::math::Real >
Neighbor;
192 ::std::vector< Vertex >
end;
202 #endif // _RL_PLAN_RRT_H_