30 #ifndef _RL_PLAN_WORKSPACESPHEREEXPLORER_H_
31 #define _RL_PLAN_WORKSPACESPHEREEXPLORER_H_
35 #include <boost/graph/adjacency_list.hpp>
36 #include <boost/random/mersenne_twister.hpp>
37 #include <boost/random/uniform_on_sphere.hpp>
38 #include <boost/random/variate_generator.hpp>
75 void seed(const ::boost::mt19937::result_type& value);
99 typedef ::boost::adjacency_list<
102 ::boost::bidirectionalS,
106 typedef ::boost::graph_traits< Graph >::edge_descriptor
Edge;
112 typedef ::boost::graph_traits< Graph >::vertex_descriptor
Vertex;
130 ::std::multiset< WorkspaceSphere >
queue;
132 ::boost::variate_generator< ::boost::mt19937, ::boost::uniform_on_sphere< ::rl::math::Real > >
rand;
140 #endif // _RL_PLAN_WORKSPACESPHEREEXPLORER_H_