WorkspaceSphere.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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#ifndef RL_PLAN_WORKSPACESPHERE_H
#define RL_PLAN_WORKSPACESPHERE_H
 
#include <vector>
#include <boost/graph/adjacency_list.hpp>
 
#include "Vector3Ptr.h"
 
namespace rl
{
    namespace plan
    {
        struct WorkspaceSphere
        {
            typedef ::boost::adjacency_list_traits<
                ::boost::listS,
                ::boost::listS,
                ::boost::bidirectionalS
            >::vertex_descriptor Vertex; 
            
            bool operator<(const WorkspaceSphere& rhs) const;
            
            Vector3Ptr center;
            
            Vertex parent;
            
            ::rl::math::Real priority;
            
            ::rl::math::Real radius;
            
            ::rl::math::Real radiusSum;
        };
    }
}
 
#endif // RL_PLAN_WORKSPACESPHERE_H