src/smp/planner_utils/vertex_edge.h

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#ifndef _SMP_VERTEX_EDGE_H_
#define _SMP_VERTEX_EDGE_H_

#include <smp/planner_utils/trajectory.h>

#include <list>
using namespace std;


#define _SMP_FAST_VERTEX_DELETE 1


namespace smp {


    template< class typeparams > class vertex;
    template< class typeparams > class edge;


    template< class typeparams >
    class vertex {

        typedef typename typeparams::state state_t;
        typedef typename typeparams::input input_t;
        typedef typename typeparams::vertex_data vertex_data_t;
        typedef typename typeparams::edge_data edge_data_t;

        typedef edge<typeparams> edge_t;
        typedef vertex<typeparams> vertex_t;
 
    public:
    

        vertex_data_t data;
    

        state_t *state;


        list<edge_t*> incoming_edges;


        list<edge_t*> outgoing_edges;

#if _SMP_FAST_VERTEX_DELETE


        typename list<vertex_t*>::iterator it_vertex_list;
#endif
    
        vertex ();
        ~vertex ();
    };



    template< class typeparams >
    class edge {

        typedef typename typeparams::state state_t;
        typedef typename typeparams::input input_t;
        typedef typename typeparams::vertex_data vertex_data_t;
        typedef typename typeparams::edge_data edge_data_t;

        typedef trajectory<typeparams> trajectory_t;
    
        typedef vertex<typeparams> vertex_t;

    
    public:


        edge_data_t data;


        trajectory_t *trajectory_edge;


        vertex_t *vertex_src;


        vertex_t *vertex_dst;

        edge ();
        ~edge ();
    };


}


#endif