Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2012-, Open Perception, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of the copyright holder(s) nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id$ 00037 * 00038 */ 00039 00040 #ifndef PCL_REGISTRATION_BOOST_GRAPH_H_ 00041 #define PCL_REGISTRATION_BOOST_GRAPH_H_ 00042 00043 #include <boost/graph/adjacency_list.hpp> 00044 #include <Eigen/StdVector> 00045 #include <list> 00046 00047 namespace boost 00048 { 00049 00050 struct eigen_vecS 00051 { 00052 }; 00053 00054 template <class ValueType> 00055 struct container_gen<eigen_vecS, ValueType> 00056 { 00057 typedef std::vector<ValueType, Eigen::aligned_allocator<ValueType> > type; 00058 }; 00059 00060 template <> 00061 struct parallel_edge_traits<eigen_vecS> 00062 { 00063 typedef allow_parallel_edge_tag type; 00064 }; 00065 00066 namespace detail 00067 { 00068 template <> 00069 struct is_random_access<eigen_vecS> 00070 { 00071 enum { value = true }; 00072 typedef mpl::true_ type; 00073 }; 00074 } 00075 00076 struct eigen_listS 00077 { 00078 }; 00079 00080 template <class ValueType> 00081 struct container_gen<eigen_listS, ValueType> 00082 { 00083 typedef std::list<ValueType, Eigen::aligned_allocator<ValueType> > type; 00084 }; 00085 00086 template <> 00087 struct parallel_edge_traits<eigen_listS> 00088 { 00089 typedef allow_parallel_edge_tag type; 00090 }; 00091 00092 namespace detail 00093 { 00094 template <> 00095 struct is_random_access<eigen_listS> 00096 { 00097 enum { value = false }; 00098 typedef mpl::false_ type; 00099 }; 00100 } 00101 } 00102 00103 #endif // PCL_REGISTRATION_BOOST_GRAPH_H_