The graph implementation in the library is currently very limited in functionality and usability. Re-implement the graph data-structure in a generic manner so that it can be used in all the planning algorithms. Some features of the implementation:
[ ] Ability to associate custom data with each node
[ ] Weighted/unweighted, directed/undirected
[ ] Well documented API
A good start would be to study the Boost.Graph library
The graph implementation in the library is currently very limited in functionality and usability. Re-implement the graph data-structure in a generic manner so that it can be used in all the planning algorithms. Some features of the implementation:
A good start would be to study the Boost.Graph library