graph.h File Reference

A basic scene graph using boost. More...

#include <tesseract/common/macros.h>
#include <boost/graph/adjacency_list.hpp>
#include <boost/graph/properties.hpp>
#include <string>
#include <unordered_map>
#include <Eigen/Geometry>
#include <tesseract/common/fwd.h>

Classes
struct	tesseract::scene_graph::ShortestPath
	Holds the shortest path information. More...
class	tesseract::scene_graph::SceneGraph

Typedefs
using	tesseract::scene_graph::GraphProperty = boost::property< boost::graph_name_t, std::string, boost::property< boost::graph_root_t, std::string > >
	Defines the boost graph property.
using	tesseract::scene_graph::VertexProperty = boost::property< boost::vertex_link_t, std::shared_ptr< Link > >
	Defines the boost graph vertex property.
using	tesseract::scene_graph::EdgeProperty = boost::property< boost::edge_joint_t, std::shared_ptr< Joint >, boost::property< boost::edge_weight_t, double > >
	EdgeProperty.
using	tesseract::scene_graph::Graph = boost::adjacency_list< boost::listS, boost::listS, boost::bidirectionalS, VertexProperty, EdgeProperty, GraphProperty >

Enumerations
enum	vertex_link_t : std::uint8_t { vertex_link }
enum	edge_joint_t : std::uint8_t { edge_joint }
enum	graph_root_t : std::uint8_t { graph_root }

Functions
	boost::BOOST_INSTALL_PROPERTY (vertex, link)
	boost::BOOST_INSTALL_PROPERTY (edge, joint)
	boost::BOOST_INSTALL_PROPERTY (graph, root)
template<class Archive >
void	tesseract::scene_graph::serialize (Archive &ar, SceneGraph &obj)
std::ostream &	tesseract::scene_graph::operator<< (std::ostream &os, const ShortestPath &path)

Detailed Description

A basic scene graph using boost.

Author

Levi Armstrong

Date

Dec 18, 2017

Copyright

Copyright (c) 2017, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Typedef Documentation

EdgeProperty

using tesseract::scene_graph::EdgeProperty = typedef boost::property<boost::edge_joint_t, std::shared_ptr<Joint>, boost::property<boost::edge_weight_t, double> >

EdgeProperty.

The edge_weight represents the distance between the two links