30 #ifndef _RL_PLAN_PRM_H_
31 #define _RL_PLAN_PRM_H_
34 #include <boost/graph/adjacency_list.hpp>
35 #include <boost/pending/disjoint_sets.hpp>
36 #include <CGAL/Search_traits.h>
60 virtual void construct(const ::std::size_t& steps);
62 virtual ::std::string
getName()
const;
98 typedef ::boost::adjacency_list_traits<
101 ::boost::undirectedS,
103 >::vertex_descriptor
Vertex;
120 typedef ::boost::adjacency_list<
123 ::boost::undirectedS,
129 typedef ::std::pair< const ::rl::math::Vector*, Vertex >
QueryItem;
163 typedef ::CGAL::Search_traits< ::rl::math::Real, QueryItem, const ::rl::math::Real*, CartesianIterator >
SearchTraits;
178 typedef ::boost::graph_traits< Graph >::edge_descriptor
Edge;
190 typedef ::boost::property_map< Graph, ::std::size_t VertexBundle::* >::type
VertexRankMap;
192 typedef ::std::pair< Vertex, ::rl::math::Real >
Neighbor;
211 ::boost::disjoint_sets< VertexRankMap, VertexParentMap >
ds;
223 #endif // _RL_PLAN_PRM_H_