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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>
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<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">#include "ompl/datastructures/AdjacencyList.h"</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include "ompl/datastructures/BinaryHeap.h"</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#include "<a class="code" href="Console_8h.html">ompl/util/Console.h</a>"</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <boost/graph/adjacency_list.hpp></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <boost/graph/graph_traits.hpp></span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <boost/graph/dijkstra_shortest_paths.hpp></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <boost/pending/disjoint_sets.hpp></span></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="preprocessor">#include <boost/graph/incremental_components.hpp></span> <span class="comment">// needed?</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="preprocessor">#include <iostream></span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  </div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="keyword">using</span> Graph = boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS,</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  boost::property<boost::vertex_index_t, int,</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  boost::property<boost::vertex_rank_t, int, <span class="comment">// disjoint sets</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  boost::property<boost::vertex_predecessor_t, int>>>,</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  boost::property<boost::edge_weight_t, double>>;</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="keyword">using</span> Vertex = boost::graph_traits<Graph>::vertex_descriptor;</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="keyword">using</span> Edge = boost::graph_traits<Graph>::edge_descriptor;</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="keyword">using</span> VIterator = boost::graph_traits<Graph>::vertex_iterator;</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="keyword">using</span> EIterator = boost::graph_traits<Graph>::edge_iterator;</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="keyword">using</span> AdjIterator = boost::graph_traits<Graph>::adjacency_iterator;</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="keyword">using</span> DisjointSets = boost::disjoint_sets<boost::property_map<Graph, boost::vertex_rank_t>::type,</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  boost::property_map<Graph, boost::vertex_predecessor_t>::type>;</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="preprocessor">#define graph_ reinterpret_cast<Graph *>(graphRaw_)</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="preprocessor">#define disjointSets_ reinterpret_cast<DisjointSets *>(disjointSetsRaw_)</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> ompl::AdjacencyList::AdjacencyList()</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> {</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  graphRaw_ = <span class="keyword">new</span> Graph();</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  disjointSetsRaw_ =</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">new</span> DisjointSets(boost::get(boost::vertex_rank, *graph_), boost::get(boost::vertex_predecessor, *graph_));</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> }</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> ompl::AdjacencyList::AdjacencyList(<span class="keywordtype">int</span> n)</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> {</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  graphRaw_ = <span class="keyword">new</span> Graph(n);</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  disjointSetsRaw_ =</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keyword">new</span> DisjointSets(boost::get(boost::vertex_rank, *graph_), boost::get(boost::vertex_predecessor, *graph_));</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  std::pair<VIterator, VIterator> vRange = boost::vertices(*graph_);</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordflow">for</span> (VIterator it = vRange.first; it != vRange.second; ++it)</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  disjointSets_->make_set(*it);</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> }</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  </div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> ompl::AdjacencyList::~AdjacencyList()</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> {</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keyword">delete</span> graph_;</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keyword">delete</span> disjointSets_;</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  graphRaw_ = NULL;</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  disjointSetsRaw_ = NULL;</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> }</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="keywordtype">void</span> ompl::AdjacencyList::clear()</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> {</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  boost::mutex::scoped_lock lock(lock_);</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  graph_->clear();</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> }</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  </div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> <span class="keywordtype">int</span> ompl::AdjacencyList::addVertex()</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>  boost::mutex::scoped_lock lock(lock_);</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  Vertex v = boost::add_vertex(*graph_);</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  disjointSets_->make_set(v);</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  </div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  boost::property_map<Graph, boost::vertex_index_t>::type vertexIndexMap = get(boost::vertex_index, *graph_);</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordflow">return</span> vertexIndexMap[v];</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</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="keywordtype">int</span> ompl::AdjacencyList::numVertices()<span class="keyword"> const</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordflow">return</span> boost::num_vertices(*graph_);</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> }</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="keywordtype">bool</span> ompl::AdjacencyList::vertexExists(<span class="keywordtype">int</span> v)<span class="keyword"> const</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordflow">return</span> v >= 0 && v < numVertices();</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> }</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  </div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> <span class="keywordtype">bool</span> ompl::AdjacencyList::inSameComponent(<span class="keywordtype">int</span> v1, <span class="keywordtype">int</span> v2)<span class="keyword"> const</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keywordflow">if</span> (!vertexExists(v1) || !vertexExists(v2))</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  </div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keywordflow">return</span> boost::same_component(boost::vertex(v1, *graph_), boost::vertex(v2, *graph_), *disjointSets_);</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> }</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  </div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="keywordtype">int</span> ompl::AdjacencyList::numConnectedComponents()<span class="keyword"> const</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  std::pair<VIterator, VIterator> vRange = boost::vertices(*graph_);</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keywordflow">return</span> disjointSets_->count_sets(vRange.first, vRange.second);</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> }</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  </div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> <span class="keywordtype">int</span> ompl::AdjacencyList::getComponentID(<span class="keywordtype">int</span> vtx)<span class="keyword"> const</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keywordflow">return</span> disjointSets_->find_set(vtx);</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> }</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  </div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> <span class="keywordtype">bool</span> ompl::AdjacencyList::addEdge(<span class="keywordtype">int</span> v1, <span class="keywordtype">int</span> v2, <span class="keywordtype">double</span> weight)</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> {</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  boost::mutex::scoped_lock lock(lock_);</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  </div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="comment">// If either of the vertices do not exist, don't add an edge</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keywordflow">if</span> (v1 < 0 || v1 >= numVertices() || v2 < 0 || v2 >= numVertices())</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  </div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keywordflow">if</span> (edgeExists(v1, v2))</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  </div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="comment">// No self-transitions</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keywordflow">if</span> (v1 == v2)</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  </div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keywordflow">if</span> (weight < 0)</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  {</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  std::cout << <span class="stringliteral">"weight = "</span> << weight << std::endl;</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">"addEdge: Edge weight must be >= 0"</span>);</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  }</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  </div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  Edge e;</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <span class="keywordtype">bool</span> added = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  Vertex vt1 = boost::vertex(v1, *graph_);</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  Vertex vt2 = boost::vertex(v2, *graph_);</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  tie(e, added) = boost::add_edge(vt1, vt2, *graph_);</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  </div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  assert(added); <span class="comment">// this should never fail</span></div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  </div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="comment">// Set edge weight</span></div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  boost::property_map<Graph, boost::edge_weight_t>::type weights = get(boost::edge_weight, *graph_);</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  weights[e] = weight;</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  </div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  disjointSets_->union_set(vt1, vt2);</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  </div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keywordflow">return</span> added;</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span> }</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  </div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span> <span class="keywordtype">bool</span> ompl::AdjacencyList::removeEdge(<span class="keywordtype">int</span> v1, <span class="keywordtype">int</span> v2)</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span> {</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  boost::mutex::scoped_lock lock(lock_);</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  </div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  Edge e;</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="keywordtype">bool</span> exists;</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  boost::tie(e, exists) = boost::edge(boost::vertex(v1, *graph_), boost::vertex(v2, *graph_), *graph_);</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  </div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordflow">if</span> (exists)</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  boost::remove_edge(e, *graph_);</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keywordflow">return</span> exists;</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> }</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  </div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span> <span class="keywordtype">int</span> ompl::AdjacencyList::numEdges()<span class="keyword"> const</span></div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <span class="keywordflow">return</span> boost::num_edges(*graph_);</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span> }</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  </div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span> <span class="keywordtype">double</span> ompl::AdjacencyList::getEdgeWeight(<span class="keywordtype">int</span> v1, <span class="keywordtype">int</span> v2)<span class="keyword"> const</span></div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  Edge e;</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <span class="keywordtype">bool</span> exists;</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  boost::tie(e, exists) = boost::edge(boost::vertex(v1, *graph_), boost::vertex(v2, *graph_), *graph_);</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  </div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="keywordflow">if</span> (exists)</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  {</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  boost::property_map<Graph, boost::edge_weight_t>::type weights = get(boost::edge_weight, *graph_);</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordflow">return</span> weights[e];</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  }</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  </div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">"Edge does not exist"</span>);</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span> }</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  </div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> <span class="keywordtype">bool</span> ompl::AdjacencyList::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="l00210"></a><span class="lineno"> 210</span> {</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  boost::mutex::scoped_lock lock(lock_);</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  </div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="keywordflow">if</span> (weight < 0)</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  {</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  std::cout << <span class="stringliteral">"Weight: "</span> << weight << std::endl;</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">"setEdgeWeight: Edge weight must be >= 0"</span>);</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  }</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  </div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  Edge e;</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keywordtype">bool</span> exists;</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  boost::tie(e, exists) = boost::edge(boost::vertex(v1, *graph_), boost::vertex(v2, *graph_), *graph_);</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  </div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="keywordflow">if</span> (exists)</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  {</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  boost::property_map<Graph, boost::edge_weight_t>::type weights = get(boost::edge_weight, *graph_);</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  weights[e] = weight;</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  }</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  </div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span> }</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  </div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span> <span class="keywordtype">bool</span> ompl::AdjacencyList::edgeExists(<span class="keywordtype">int</span> v1, <span class="keywordtype">int</span> v2)<span class="keyword"> const</span></div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  Edge e;</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="keywordtype">bool</span> exists;</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  boost::tie(e, exists) = boost::edge(boost::vertex(v1, *graph_), boost::vertex(v2, *graph_), *graph_);</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  </div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="keywordflow">return</span> exists;</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span> }</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  </div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span> <span class="keywordtype">int</span> ompl::AdjacencyList::numNeighbors(<span class="keywordtype">int</span> vtx)<span class="keyword"> const</span></div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keywordflow">return</span> boost::degree(boost::vertex(vtx, *graph_), *graph_);</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span> }</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  </div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span> <span class="keywordtype">void</span> ompl::AdjacencyList::getNeighbors(<span class="keywordtype">int</span> vtx, std::vector<int> &nbrs)<span class="keyword"> const</span></div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  nbrs.resize(numNeighbors(vtx));</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  </div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  std::pair<AdjIterator, AdjIterator> iterators = boost::adjacent_vertices(boost::vertex(vtx, *graph_), *graph_);</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  boost::property_map<Graph, boost::vertex_index_t>::type vertices = get(boost::vertex_index, *graph_);</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <span class="keywordtype">int</span> count = 0;</div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="keywordflow">for</span> (AdjIterator iter = iterators.first; iter != iterators.second; ++iter, ++count)</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  nbrs[count] = vertices[*iter];</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span> }</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  </div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span> <span class="keywordtype">void</span> ompl::AdjacencyList::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="l00259"></a><span class="lineno"> 259</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  nbrs.resize(numNeighbors(vtx));</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  </div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  std::pair<AdjIterator, AdjIterator> iterators = boost::adjacent_vertices(boost::vertex(vtx, *graph_), *graph_);</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  boost::property_map<Graph, boost::vertex_index_t>::type vertices = get(boost::vertex_index, *graph_);</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  boost::property_map<Graph, boost::edge_weight_t>::type weights = get(boost::edge_weight, *graph_);</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  </div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="keywordtype">int</span> count = 0;</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="keywordflow">for</span> (AdjIterator iter = iterators.first; iter != iterators.second; ++iter, ++count)</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  {</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  Edge e;</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <span class="keywordtype">bool</span> exists;</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  boost::tie(e, exists) = boost::edge(boost::vertex(vtx, *graph_), *iter, *graph_);</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  assert(exists);</div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  nbrs[count] = std::make_pair(vertices[*iter], weights[e]);</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  }</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span> }</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  </div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span> <span class="keywordtype">bool</span> ompl::AdjacencyList::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="l00278"></a><span class="lineno"> 278</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  std::vector<double> distances;</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  std::vector<int> predecessors;</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  dijkstra(v1, predecessors, distances);</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  </div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="comment">// no solution when predecessor of (non-start) vertex is itself</span></div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="keywordflow">if</span> (v2 != v1 && predecessors[v2] == v2)</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  </div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  boost::property_map<Graph, boost::vertex_index_t>::type indexMap = get(boost::vertex_index, *graph_);</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  </div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  path.clear();</div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  <span class="comment">// Extracting solution path</span></div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  Vertex v = boost::vertex(v2, *graph_);</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  Vertex start = boost::vertex(v1, *graph_);</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <span class="keywordflow">while</span> (v != start)</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  {</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  path.insert(path.begin(), indexMap[v]);</div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  v = predecessors[v];</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  }</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  path.insert(path.begin(), indexMap[v]);</div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span> }</div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  </div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span> <span class="keywordtype">void</span> ompl::AdjacencyList::dijkstra(<span class="keywordtype">int</span> vtx, std::vector<int> &predecessors, std::vector<double> &distances)<span class="keyword"> const</span></div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  <span class="comment">// Locking the graph, since modifications to the graph during search are not supported</span></div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  <span class="comment">// This call is also the reason why lock_ must be mutable</span></div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  boost::mutex::scoped_lock lock(lock_);</div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  </div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  distances.resize(numVertices());</div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  predecessors.resize(numVertices());</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  </div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  boost::dijkstra_shortest_paths(*graph_, boost::vertex(vtx, *graph_),</div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  boost::predecessor_map(&predecessors[0]).distance_map(&distances[0]));</div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span> }</div>
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