shortest_paths.h

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/*
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#ifndef TOPOLOGICAL_ROADMAP_SHORTEST_PATHS_H
#define TOPOLOGICAL_ROADMAP_SHORTEST_PATHS_H

#include <topological_roadmap/roadmap.h>

namespace topological_roadmap
{

struct SingleSourceShortestPaths;
typedef boost::shared_ptr<SingleSourceShortestPaths> ResultPtr;

typedef std::vector<unsigned> NodeVec;
typedef std::vector<unsigned> EdgeVec;
typedef std::pair<NodeVec, EdgeVec> Path;

ResultPtr shortestPaths (const Roadmap& r, unsigned src);

boost::optional<Path>
extractPath (ResultPtr res, unsigned dest);

} // namespace

#endif // include guard