topological_roadmap: shortest_paths.h Source File

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
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00029  */
00030 
00039 #ifndef TOPOLOGICAL_ROADMAP_SHORTEST_PATHS_H
00040 #define TOPOLOGICAL_ROADMAP_SHORTEST_PATHS_H
00041 
00042 #include <topological_roadmap/roadmap.h>
00043 
00044 namespace topological_roadmap
00045 {
00046 
00047 struct SingleSourceShortestPaths;
00048 typedef boost::shared_ptr<SingleSourceShortestPaths> ResultPtr;
00049 
00050 typedef std::vector<unsigned> NodeVec;
00051 typedef std::vector<unsigned> EdgeVec;
00052 typedef std::pair<NodeVec, EdgeVec> Path;
00053 
00057 ResultPtr shortestPaths (const Roadmap& r, unsigned src);
00058 
00061 boost::optional<Path>
00062 extractPath (ResultPtr res, unsigned dest);
00063 
00064 } // namespace
00065 
00066 #endif // include guard