Methods.h File Reference

#include <boost/preprocessor/seq.hpp>
#include "MPLibrary/Connectors/CCsConnector.h"
#include "MPLibrary/Connectors/NeighborhoodConnector.h"
#include "MPLibrary/Connectors/RewireConnector.h"
#include "MPLibrary/DistanceMetrics/BinaryLPSweptDistance.h"
#include "MPLibrary/DistanceMetrics/LPSweptDistance.h"
#include "MPLibrary/DistanceMetrics/MinkowskiDistance.h"
#include "MPLibrary/DistanceMetrics/EuclideanDistance.h"
#include "MPLibrary/DistanceMetrics/WeightedEuclideanDistance.h"
#include "MPLibrary/DistanceMetrics/ManhattanDistance.h"
#include "MPLibrary/DistanceMetrics/RMSDDistance.h"
#include "MPLibrary/DistanceMetrics/TopologicalDistance.h"
#include "MPLibrary/DistanceMetrics/WorkspaceTranslationDistance.h"
#include "MPLibrary/EdgeValidityCheckers/IntermediatesEdgeValidityChecker.h"
#include "MPLibrary/Extenders/BasicExtender.h"
#include "MPLibrary/Extenders/RotationThenTranslation.h"
#include "MPLibrary/LocalPlanners/StraightLine.h"
#include "MPLibrary/LocalPlanners/HierarchicalLP.h"
#include "MPLibrary/MapEvaluators/CBSQuery.h"
#include "MPLibrary/MapEvaluators/ClearanceQuery.h"
#include "MPLibrary/MapEvaluators/ConditionalEvaluator.h"
#include "MPLibrary/MapEvaluators/CollisionEvaluator.h"
#include "MPLibrary/MapEvaluators/ComposeEvaluator.h"
#include "MPLibrary/MapEvaluators/GroupQuery.h"
#include "MPLibrary/MapEvaluators/LazyQuery.h"
#include "MPLibrary/MapEvaluators/MinimumDistanceEvaluator.h"
#include "MPLibrary/MapEvaluators/NegateEvaluator.h"
#include "MPLibrary/MapEvaluators/PathEvaluator.h"
#include "MPLibrary/MapEvaluators/PrintMapEvaluation.h"
#include "MPLibrary/MapEvaluators/QueryMethod.h"
#include "MPLibrary/MapEvaluators/SIPPMethod.h"
#include "MPLibrary/MapEvaluators/TimeEvaluator.h"
#include "MPLibrary/Metrics/NumNodesMetric.h"
#include "MPLibrary/Metrics/NumEdgesMetric.h"
#include "MPLibrary/Metrics/TimeMetric.h"
#include "MPLibrary/MPStrategies/AdaptiveRRT.h"
#include "MPLibrary/MPStrategies/BasicPRM.h"
#include "MPLibrary/MPStrategies/BasicRRTStrategy.h"
#include "MPLibrary/MPStrategies/DynamicDomainRRT.h"
#include "MPLibrary/MPStrategies/DynamicRegionRRT.h"
#include "MPLibrary/MPStrategies/DynamicRegionsPRM.h"
#include "MPLibrary/MPStrategies/EET.h"
#include "MPLibrary/MPStrategies/GroupDecoupledStrategy.h"
#include "MPLibrary/MPStrategies/GroupPRM.h"
#include "MPLibrary/MPStrategies/ModifyPath.h"
#include "MPLibrary/MPStrategies/Syclop.h"
#include "MPLibrary/MPStrategies/TogglePRMStrategy.h"
#include "MPLibrary/MPStrategies/WrenchAccessibilityStrategy.h"
#include "MPLibrary/NeighborhoodFinders/BruteForceNF.h"
#include "MPLibrary/NeighborhoodFinders/KdTreeNF.h"
#include "MPLibrary/NeighborhoodFinders/RadiusNF.h"
#include "MPLibrary/NeighborhoodFinders/RandomNF.h"
#include "MPLibrary/PathModifiers/ShortcuttingPathModifier.h"
#include "MPLibrary/Samplers/BridgeTestSampler.h"
#include "MPLibrary/Samplers/GaussianSampler.h"
#include "MPLibrary/Samplers/MixSampler.h"
#include "MPLibrary/Samplers/ObstacleBasedSampler.h"
#include "MPLibrary/Samplers/UniformRandomSampler.h"
#include "MPLibrary/ValidityCheckers/CollisionDetectionValidity.h"
#include "MPLibrary/ValidityCheckers/AlwaysTrueValidity.h"
#include "MPLibrary/ValidityCheckers/ComposeCollision.h"
#include "MPLibrary/ValidityCheckers/ComposeValidity.h"
#include "MPLibrary/ValidityCheckers/NodeClearanceValidity.h"
#include "MPLibrary/ValidityCheckers/ObstacleClearanceValidity.h"
#include "MPLibrary/ValidityCheckers/TerrainValidityChecker.h"
#include "MPLibrary/ValidityCheckers/TopologicalMapValidity.h"

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures
struct	MPUniverse
	Defines available methods in the Motion Planning Universe. More...

Macros
#define	BOOST_PP_SEQ_ENUM_0
#define	CCS_CONNECTOR_AVAILABLE   1
#define	NEIGHBOR_CONNECTOR_AVAILABLE   1
#define	REWIRE_CONNECTOR_AVAILABLE   1
#define	BIN_LP_SWEPT_AVAILABLE   1
#define	LP_SWEPT_AVAILABLE   1
#define	EUCLIDEAN_AVAILABLE   1
#define	SCALED_EUCLIDEAN_AVAILABLE   0
#define	WEIGHTED_EUCLIDEAN_AVAILABLE   1
#define	MINKOWSKI_AVAILABLE   1
#define	MANHATTAN_AVAILABLE   1
#define	RMSD_AVAILABLE   1
#define	TOPOLOGICAL_DISTANCE_AVAILABLE   1
#define	WORKSPACE_TRANSLATION_AVAILABLE   1
#define	INTERMEDIATES_EVC_AVAILABLE   1
#define	BASIC_EXTENDER_AVAILABLE   1
#define	ROTATION_THEN_TRANSLATION_AVAILABLE   1
#define	STRAIGHT_LINE_AVAILABLE   1
#define	HIERARCHICAL_LP_AVAILABLE   1
#define	CBS_QUERY_AVAILABLE   1
#define	CLEARANCE_QUERY_AVAILABLE   1
#define	COLLISION_EVAL_AVAILABLE   1
#define	COMPOSE_EVAL_AVAILABLE   1
#define	CONDITIONAL_EVAL_AVAILABLE   1
#define	GROUP_QUERY_AVAILABLE   1
#define	LAZY_QUERY_AVAILABLE   1
#define	MIN_DIST_EVAL_AVAILABLE   1
#define	NEGATE_EVAL_AVAILABLE   1
#define	PATH_EVAL_AVAILABLE   1
#define	PRINT_MAP_AVAILABLE   1
#define	QUERY_METHOD_AVAILABLE   1
#define	SIPP_METHOD_AVAILABLE   1
#define	TIME_EVAL_AVAILABLE   1
#define	NUM_NODES_AVAILABLE   1
#define	NUM_EDGES_AVAILABLE   1
#define	TIME_METRIC_AVAILABLE   1
#define	ADAPTIVE_RRT_AVAILABLE   1
#define	BASIC_PRM_AVAILABLE   1
#define	BASIC_RRT_AVAILABLE   1
#define	DYNAMIC_DOMAIN_RRT_AVAILABLE   1
#define	DYNAMIC_REGION_RRT_AVAILABLE   1
#define	DYNAMIC_REGION_PRM_AVAILABLE   1
#define	EET_AVAILABLE   1
#define	GROUP_DECOUPLED_STRAT_AVAILABLE   1
#define	GROUP_PRM_AVAILABLE   1
#define	MODIFY_PATH_AVAILABLE   1
#define	PATH_STRATEGY_AVAILABLE   0
#define	SYCLOP_AVAILABLE   1
#define	TOGGLE_PRM_AVAILABLE   1
#define	WRENCH_ACCESS_STRAT_AVAILABLE   1
#define	BRUTE_FORCE_NF_AVAILABLE   1
#define	KDTREE_NF_AVAILABLE   1
#define	RADIUS_NF_AVAILABLE   1
#define	RANDOM_NF_AVAILABLE   1
#define	SHORTCUTTING_AVAILABLE   1
#define	BRIDGE_TEST_AVAILABLE   1
#define	GAUSSIAN_AVAILABLE   1
#define	MIX_SAMPLER_AVAILABLE   1
#define	OBSTACLE_BASED_SAMPLER_AVAILABLE   1
#define	UNIFORM_RANDOM_AVAILABLE   1
#define	UNIFORM_OBSTACLE_AVAILABLE   0
#define	ALWAYS_TRUE_AVAILABLE   1
#define	COMPOSE_CD_AVAILABLE   1
#define	COMPOSE_VC_AVAILABLE   1
#define	NODE_CLEARANCE_VC_AVAILABLE   1
#define	OBSTACLE_CLEARANCE_VC_AVAILABLE   1
#define	TERRAIN_VC_AVAILABLE   1
#define	TOPOLOGICAL_MAP_VC_AVAILABLE   1
#define	CONNECTOR_CLASSES
#define	DM_CLASSES
#define	EVC_CLASSES    ((IntermediatesEdgeValidityChecker, INTERMEDIATES_EVC_AVAILABLE))
#define	EXT_CLASSES
#define	LP_CLASSES
#define	ME_CLASSES
#define	METRIC_CLASSES
#define	MPSTRATEGY_CLASSES
#define	NF_CLASSES
#define	PM_CLASSES   ((ShortcuttingPathModifier, SHORTCUTTING_AVAILABLE))
#define	SAMPLER_CLASSES
#define	VC_CLASSES
#define	ADD_CLASS_IF_AVAILABLE(r, data, elem)
#define	CONN_SEQ    BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, CONNECTOR_CLASSES)
#define	DM_SEQ   BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, DM_CLASSES)
#define	EXT_SEQ   BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, EXT_CLASSES)
#define	EVC_SEQ   BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, EVC_CLASSES)
#define	LP_SEQ   BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, LP_CLASSES)
#define	ME_SEQ   BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, ME_CLASSES)
#define	METRIC_SEQ    BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, METRIC_CLASSES)
#define	MPSTRATEGY_SEQ    BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, MPSTRATEGY_CLASSES)
#define	NF_SEQ   BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, NF_CLASSES)
#define	PM_SEQ   BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, PM_CLASSES)
#define	SAMPLER_SEQ    BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, SAMPLER_CLASSES)
#define	VC_SEQ   BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, VC_CLASSES)

Macro Definition Documentation

ADAPTIVE_RRT_AVAILABLE

#define ADAPTIVE_RRT_AVAILABLE   1

ADD_CLASS_IF_AVAILABLE

#define ADD_CLASS_IF_AVAILABLE	(		r,
			data,
			elem
	)

Value:

  BOOST_PP_IF(BOOST_PP_TUPLE_ELEM(2, 1, elem), \
              (BOOST_PP_TUPLE_ELEM(2, 0, elem)), BOOST_PP_EMPTY())

ALWAYS_TRUE_AVAILABLE

#define ALWAYS_TRUE_AVAILABLE   1

BASIC_EXTENDER_AVAILABLE

#define BASIC_EXTENDER_AVAILABLE   1

BASIC_PRM_AVAILABLE

#define BASIC_PRM_AVAILABLE   1

BASIC_RRT_AVAILABLE

#define BASIC_RRT_AVAILABLE   1

BIN_LP_SWEPT_AVAILABLE

#define BIN_LP_SWEPT_AVAILABLE   1

BOOST_PP_SEQ_ENUM_0

#define BOOST_PP_SEQ_ENUM_0

BRIDGE_TEST_AVAILABLE

#define BRIDGE_TEST_AVAILABLE   1

BRUTE_FORCE_NF_AVAILABLE

#define BRUTE_FORCE_NF_AVAILABLE   1

CBS_QUERY_AVAILABLE

#define CBS_QUERY_AVAILABLE   1

CCS_CONNECTOR_AVAILABLE

#define CCS_CONNECTOR_AVAILABLE   1

CLEARANCE_QUERY_AVAILABLE

#define CLEARANCE_QUERY_AVAILABLE   1

COLLISION_EVAL_AVAILABLE

#define COLLISION_EVAL_AVAILABLE   1

COMPOSE_CD_AVAILABLE

#define COMPOSE_CD_AVAILABLE   1

COMPOSE_EVAL_AVAILABLE

#define COMPOSE_EVAL_AVAILABLE   1

COMPOSE_VC_AVAILABLE

#define COMPOSE_VC_AVAILABLE   1

CONDITIONAL_EVAL_AVAILABLE

#define CONDITIONAL_EVAL_AVAILABLE   1

CONN_SEQ

#define CONN_SEQ    BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, CONNECTOR_CLASSES)

CONNECTOR_CLASSES

#define CONNECTOR_CLASSES

Value:

  ((CCsConnector, CCS_CONNECTOR_AVAILABLE))(                  \
      (NeighborhoodConnector, NEIGHBOR_CONNECTOR_AVAILABLE))( \
      (RewireConnector, REWIRE_CONNECTOR_AVAILABLE))

DM_CLASSES

#define DM_CLASSES

Value:

  ((BinaryLPSweptDistance, BIN_LP_SWEPT_AVAILABLE))(              \
      (LPSweptDistance, LP_SWEPT_AVAILABLE))(                     \
      (MinkowskiDistance, MINKOWSKI_AVAILABLE))(                  \
      (EuclideanDistance, EUCLIDEAN_AVAILABLE))(                  \
      (ScaledEuclideanDistance, SCALED_EUCLIDEAN_AVAILABLE))(     \
      (WeightedEuclideanDistance, WEIGHTED_EUCLIDEAN_AVAILABLE))( \
      (ManhattanDistance, MANHATTAN_AVAILABLE))(                  \
      (RMSDDistance, RMSD_AVAILABLE))(                            \
      (TopologicalDistance, TOPOLOGICAL_DISTANCE_AVAILABLE))(     \
      (WorkspaceTranslationDistance, WORKSPACE_TRANSLATION_AVAILABLE))

DM_SEQ

#define DM_SEQ   BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, DM_CLASSES)

DYNAMIC_DOMAIN_RRT_AVAILABLE

#define DYNAMIC_DOMAIN_RRT_AVAILABLE   1

DYNAMIC_REGION_PRM_AVAILABLE

#define DYNAMIC_REGION_PRM_AVAILABLE   1

DYNAMIC_REGION_RRT_AVAILABLE

#define DYNAMIC_REGION_RRT_AVAILABLE   1

EET_AVAILABLE

#define EET_AVAILABLE   1

EUCLIDEAN_AVAILABLE

#define EUCLIDEAN_AVAILABLE   1

EVC_CLASSES

#define EVC_CLASSES    ((IntermediatesEdgeValidityChecker, INTERMEDIATES_EVC_AVAILABLE))

EVC_SEQ

#define EVC_SEQ   BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, EVC_CLASSES)

EXT_CLASSES

#define EXT_CLASSES

Value:

  ((BasicExtender, BASIC_EXTENDER_AVAILABLE))( \
      (RotationThenTranslation, ROTATION_THEN_TRANSLATION_AVAILABLE))

EXT_SEQ

#define EXT_SEQ   BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, EXT_CLASSES)

GAUSSIAN_AVAILABLE

#define GAUSSIAN_AVAILABLE   1

GROUP_DECOUPLED_STRAT_AVAILABLE

#define GROUP_DECOUPLED_STRAT_AVAILABLE   1

GROUP_PRM_AVAILABLE

#define GROUP_PRM_AVAILABLE   1

GROUP_QUERY_AVAILABLE

#define GROUP_QUERY_AVAILABLE   1

HIERARCHICAL_LP_AVAILABLE

#define HIERARCHICAL_LP_AVAILABLE   1

INTERMEDIATES_EVC_AVAILABLE

#define INTERMEDIATES_EVC_AVAILABLE   1

KDTREE_NF_AVAILABLE

#define KDTREE_NF_AVAILABLE   1

LAZY_QUERY_AVAILABLE

#define LAZY_QUERY_AVAILABLE   1

LP_CLASSES

#define LP_CLASSES

Value:

  ((StraightLine, STRAIGHT_LINE_AVAILABLE))( \
      (HierarchicalLP, HIERARCHICAL_LP_AVAILABLE))

LP_SEQ

#define LP_SEQ   BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, LP_CLASSES)

LP_SWEPT_AVAILABLE

#define LP_SWEPT_AVAILABLE   1

MANHATTAN_AVAILABLE

#define MANHATTAN_AVAILABLE   1

ME_CLASSES

#define ME_CLASSES

Value:

  ((CBSQuery, CBS_QUERY_AVAILABLE))(                                           \
      (ClearanceQuery, CLEARANCE_QUERY_AVAILABLE))(                            \
      (CollisionEvaluator, COLLISION_EVAL_AVAILABLE))(                         \
      (ComposeEvaluator, COMPOSE_EVAL_AVAILABLE))(                             \
      (ConditionalEvaluator, CONDITIONAL_EVAL_AVAILABLE))(                     \
      (GroupQuery, GROUP_QUERY_AVAILABLE))((LazyQuery, LAZY_QUERY_AVAILABLE))( \
      (MinimumDistanceEvaluator, MIN_DIST_EVAL_AVAILABLE))(                    \
      (NegateEvaluator, NEGATE_EVAL_AVAILABLE))(                               \
      (PathEvaluator, PATH_EVAL_AVAILABLE))(                                   \
      (PrintMapEvaluation, PRINT_MAP_AVAILABLE))(                              \
      (QueryMethod, QUERY_METHOD_AVAILABLE))(                                  \
      (SIPPMethod, SIPP_METHOD_AVAILABLE))(                                    \
      (TimeEvaluator, TIME_EVAL_AVAILABLE))

ME_SEQ

#define ME_SEQ   BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, ME_CLASSES)

METRIC_CLASSES

#define METRIC_CLASSES

Value:

  ((NumNodesMetric, NUM_NODES_AVAILABLE))(    \
      (NumEdgesMetric, NUM_EDGES_AVAILABLE))( \
      (TimeMetric, TIME_METRIC_AVAILABLE))

METRIC_SEQ

#define METRIC_SEQ    BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, METRIC_CLASSES)

MIN_DIST_EVAL_AVAILABLE

#define MIN_DIST_EVAL_AVAILABLE   1

MINKOWSKI_AVAILABLE

#define MINKOWSKI_AVAILABLE   1

MIX_SAMPLER_AVAILABLE

#define MIX_SAMPLER_AVAILABLE   1

MODIFY_PATH_AVAILABLE

#define MODIFY_PATH_AVAILABLE   1

MPSTRATEGY_CLASSES

#define MPSTRATEGY_CLASSES

Value:

  ((AdaptiveRRT, ADAPTIVE_RRT_AVAILABLE))((BasicPRM, BASIC_PRM_AVAILABLE))(    \
      (BasicRRTStrategy, BASIC_RRT_AVAILABLE))(                                \
      (DynamicDomainRRT, DYNAMIC_DOMAIN_RRT_AVAILABLE))(                       \
      (DynamicRegionRRT, DYNAMIC_REGION_RRT_AVAILABLE))((                      \
      DynamicRegionsPRM, DYNAMIC_REGION_PRM_AVAILABLE))((EET, EET_AVAILABLE))( \
      (GroupDecoupledStrategy, GROUP_DECOUPLED_STRAT_AVAILABLE))(              \
      (GroupPRM, GROUP_PRM_AVAILABLE))((ModifyPath, MODIFY_PATH_AVAILABLE))(   \
      (PathStrategy, PATH_STRATEGY_AVAILABLE))((Syclop, SYCLOP_AVAILABLE))(    \
      (TogglePRMStrategy, TOGGLE_PRM_AVAILABLE))(                              \
      (WrenchAccessibilityStrategy, WRENCH_ACCESS_STRAT_AVAILABLE))

MPSTRATEGY_SEQ

#define MPSTRATEGY_SEQ    BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, MPSTRATEGY_CLASSES)

NEGATE_EVAL_AVAILABLE

#define NEGATE_EVAL_AVAILABLE   1

NEIGHBOR_CONNECTOR_AVAILABLE

#define NEIGHBOR_CONNECTOR_AVAILABLE   1

NF_CLASSES

#define NF_CLASSES

Value:

  ((BruteForceNF, BRUTE_FORCE_NF_AVAILABLE))((KdTreeNF, KDTREE_NF_AVAILABLE))( \
      (RandomNF, RANDOM_NF_AVAILABLE))((RadiusNF, RADIUS_NF_AVAILABLE))

NF_SEQ

#define NF_SEQ   BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, NF_CLASSES)

NODE_CLEARANCE_VC_AVAILABLE

#define NODE_CLEARANCE_VC_AVAILABLE   1

NUM_EDGES_AVAILABLE

#define NUM_EDGES_AVAILABLE   1

NUM_NODES_AVAILABLE

#define NUM_NODES_AVAILABLE   1

OBSTACLE_BASED_SAMPLER_AVAILABLE

#define OBSTACLE_BASED_SAMPLER_AVAILABLE   1

OBSTACLE_CLEARANCE_VC_AVAILABLE

#define OBSTACLE_CLEARANCE_VC_AVAILABLE   1

PATH_EVAL_AVAILABLE

#define PATH_EVAL_AVAILABLE   1

PATH_STRATEGY_AVAILABLE

#define PATH_STRATEGY_AVAILABLE   0

PM_CLASSES

#define PM_CLASSES   ((ShortcuttingPathModifier, SHORTCUTTING_AVAILABLE))

PM_SEQ

#define PM_SEQ   BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, PM_CLASSES)

PRINT_MAP_AVAILABLE

#define PRINT_MAP_AVAILABLE   1

QUERY_METHOD_AVAILABLE

#define QUERY_METHOD_AVAILABLE   1

RADIUS_NF_AVAILABLE

#define RADIUS_NF_AVAILABLE   1

RANDOM_NF_AVAILABLE

#define RANDOM_NF_AVAILABLE   1

REWIRE_CONNECTOR_AVAILABLE

#define REWIRE_CONNECTOR_AVAILABLE   1

RMSD_AVAILABLE

#define RMSD_AVAILABLE   1

ROTATION_THEN_TRANSLATION_AVAILABLE

#define ROTATION_THEN_TRANSLATION_AVAILABLE   1

SAMPLER_CLASSES

#define SAMPLER_CLASSES

Value:

  ((BridgeTestSampler, BRIDGE_TEST_AVAILABLE))(                  \
      (GaussianSampler, GAUSSIAN_AVAILABLE))(                    \
      (MixSampler, MIX_SAMPLER_AVAILABLE))(                      \
      (ObstacleBasedSampler, OBSTACLE_BASED_SAMPLER_AVAILABLE))( \
      (UniformRandomSampler, UNIFORM_RANDOM_AVAILABLE))(         \
      (UniformObstacleBasedSampler, UNIFORM_OBSTACLE_AVAILABLE))

SAMPLER_SEQ

#define SAMPLER_SEQ    BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, SAMPLER_CLASSES)

SCALED_EUCLIDEAN_AVAILABLE

#define SCALED_EUCLIDEAN_AVAILABLE   0

SHORTCUTTING_AVAILABLE

#define SHORTCUTTING_AVAILABLE   1

SIPP_METHOD_AVAILABLE

#define SIPP_METHOD_AVAILABLE   1

STRAIGHT_LINE_AVAILABLE

#define STRAIGHT_LINE_AVAILABLE   1

SYCLOP_AVAILABLE

#define SYCLOP_AVAILABLE   1

TERRAIN_VC_AVAILABLE

#define TERRAIN_VC_AVAILABLE   1

TIME_EVAL_AVAILABLE

#define TIME_EVAL_AVAILABLE   1

TIME_METRIC_AVAILABLE

#define TIME_METRIC_AVAILABLE   1

TOGGLE_PRM_AVAILABLE

#define TOGGLE_PRM_AVAILABLE   1

TOPOLOGICAL_DISTANCE_AVAILABLE

#define TOPOLOGICAL_DISTANCE_AVAILABLE   1

TOPOLOGICAL_MAP_VC_AVAILABLE

#define TOPOLOGICAL_MAP_VC_AVAILABLE   1

UNIFORM_OBSTACLE_AVAILABLE

#define UNIFORM_OBSTACLE_AVAILABLE   0

UNIFORM_RANDOM_AVAILABLE

#define UNIFORM_RANDOM_AVAILABLE   1

VC_CLASSES

#define VC_CLASSES

Value:

  ((CollisionDetectionValidity, 1))(                                 \
      (AlwaysTrueValidity, ALWAYS_TRUE_AVAILABLE))(                  \
      (ComposeCollision, COMPOSE_CD_AVAILABLE))(                     \
      (ComposeValidity, COMPOSE_VC_AVAILABLE))(                      \
      (NodeClearanceValidity, NODE_CLEARANCE_VC_AVAILABLE))(         \
      (ObstacleClearanceValidity, OBSTACLE_CLEARANCE_VC_AVAILABLE))( \
      (TerrainValidityChecker, TERRAIN_VC_AVAILABLE))(               \
      (TopologicalMapValidity, TOPOLOGICAL_MAP_VC_AVAILABLE))

VC_SEQ

#define VC_SEQ   BOOST_PP_SEQ_FOR_EACH(ADD_CLASS_IF_AVAILABLE, _, VC_CLASSES)

WEIGHTED_EUCLIDEAN_AVAILABLE

#define WEIGHTED_EUCLIDEAN_AVAILABLE   1

WORKSPACE_TRANSLATION_AVAILABLE

#define WORKSPACE_TRANSLATION_AVAILABLE   1

WRENCH_ACCESS_STRAT_AVAILABLE

#define WRENCH_ACCESS_STRAT_AVAILABLE   1