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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* Copyright (c) 2015, Rice University</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">* modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">*</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">* * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">* notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">* * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">* copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">* disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">* with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">* * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">* contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">* from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">*</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">*********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Author: Ryan Luna */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#ifndef ADJACENCY_LIST_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#define ADJACENCY_LIST_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <vector></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <boost/thread/mutex.hpp></span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> {</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="comment">// An undirected graph containing vertices and weighted edges</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="comment">// Edges are stored using an adjacency list.</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="comment">// Only one edge per vertex pair is allowed.</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keyword">class </span>AdjacencyList</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  {</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  AdjacencyList();</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="comment">// Initialize the graph with n vertices and no edges</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  AdjacencyList(<span class="keywordtype">int</span> n);</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  </div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  ~AdjacencyList();</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="comment">// Remove all vertices and edges</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordtype">void</span> clear();</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  </div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="comment">// Add a new vertex to the graph. The id of the vertex is returned</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="comment">// Note: Vertex removal is not supported to simplify the implementation,</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="comment">// provide stability of vertex descriptors, and for performance reasons</span></div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keywordtype">int</span> addVertex();</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="comment">// Return the number of vertices in the graph</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keywordtype">int</span> numVertices() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="comment">// Return true if a vertex with the given id exists</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keywordtype">bool</span> vertexExists(<span class="keywordtype">int</span> v) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  </div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="comment">// Return true if v1 and v2 are connected in the graph (in the same connected component)</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="comment">// NOTE: THIS FUNCTION MAY NOT BE CORRECT IF EDGES ARE EVER REMOVED FROM THE GRAPH</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keywordtype">bool</span> inSameComponent(<span class="keywordtype">int</span> v1, <span class="keywordtype">int</span> v2) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="comment">// Return the number of connected components in the graph</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="comment">// NOTE: THIS FUNCTION MAY NOT BE CORRECT IF EDGES ARE EVER REMOVED FROM THE GRAPH</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordtype">int</span> numConnectedComponents() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="comment">// Return the connected component set the vertex belongs to</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordtype">int</span> getComponentID(<span class="keywordtype">int</span> vtx) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  </div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="comment">// Add an edge between v1 and v2 in the graph with the (optional) weight</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classompl_1_1AdjacencyList.html"> 80</a></span>  <span class="comment">// If the edge already exists, false is returned</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordtype">bool</span> addEdge(<span class="keywordtype">int</span> v1, <span class="keywordtype">int</span> v2, <span class="keywordtype">double</span> weight = 1.0);</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="comment">// Remove the edge between v1 and v2. False is returned if the edge does not exist</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="comment">// NOTE: USING THIS FUNCTION TRASHES CONNECTED COMPONENT CAPABILITIES</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordtype">bool</span> removeEdge(<span class="keywordtype">int</span> v1, <span class="keywordtype">int</span> v2);</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="comment">// Return the number of edges in the graph</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordtype">int</span> numEdges() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="comment">// Returns the weight of the edge between vertices v1 and v2. An exception is thrown when the edge does not exist</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordtype">double</span> getEdgeWeight(<span class="keywordtype">int</span> v1, <span class="keywordtype">int</span> v2) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="comment">// Update the edge weight between v1 and v2</span></div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordtype">bool</span> setEdgeWeight(<span class="keywordtype">int</span> v1, <span class="keywordtype">int</span> v2, <span class="keywordtype">double</span> weight);</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="comment">// Returns true if an edge exists between vertices v1 and v2</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordtype">bool</span> edgeExists(<span class="keywordtype">int</span> v1, <span class="keywordtype">int</span> v2) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="comment">// Returns number of adjacent vertices for the given vertex</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keywordtype">int</span> numNeighbors(<span class="keywordtype">int</span> vtx) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="comment">// Returns the adjacent vertices of the given vertex</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordtype">void</span> getNeighbors(<span class="keywordtype">int</span> vtx, std::vector<int>& nbrs) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="comment">// Return the adjacent vertices of the given vertex and the weights associated with each edge</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordtype">void</span> getNeighbors(<span class="keywordtype">int</span> vtx, std::vector<std::pair<int, double> >& nbrs) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  </div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="comment">// Dijkstra's shortest path search from v1 to v2. If a path exists, the solution is stored in path and true is returned.</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordtype">bool</span> dijkstra(<span class="keywordtype">int</span> v1, <span class="keywordtype">int</span> v2, std::vector<int>& path) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  </div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="comment">// Dijkstra's shortest path search starting from v1. The predecessors of each node are stored in predecessors.</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="comment">// If the predecessor of a node is itself, it is not reachable from vtx (or is equal to vtx).</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="comment">// The total distance from vtx to each node is stored in distance. A value of double::max() indicates an unreachable node.</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordtype">void</span> dijkstra(<span class="keywordtype">int</span> vtx, std::vector<int>& predecessors, std::vector<double>& distance) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  </div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  </div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="comment">// Mutex, for thread safety</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keyword">mutable</span> boost::mutex lock_;</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  </div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="comment">// Obscured to prevent unnecessary inclusion of BGL throughout the rest of the code.</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordtype">void</span>* graphRaw_;</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  </div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="comment">// Obscured to prevent unnecessary inclusion of BGL throughout the rest of the code.</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keywordtype">void</span>* disjointSetsRaw_;</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  };</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> }</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  </div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> <span class="preprocessor">#endif</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00021">AppBase.h:21</a></div></div>
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