#include <fstream>#include <boost/bind.hpp>#include <boost/function.hpp>#include <boost/chrono.hpp>#include <boost/property_map/dynamic_property_map.hpp>#include <boost/graph/adjacency_list.hpp>#include <boost/graph/dijkstra_shortest_paths.hpp>#include <boost/graph/astar_search.hpp>#include <boost/graph/filtered_graph.hpp>#include <boost/graph/reverse_graph.hpp>#include <boost/numeric/ublas/matrix.hpp>#include <boost/numeric/ublas/matrix_proxy.hpp>#include <ompl/base/Planner.h>#include <ompl/base/StateSpace.h>#include <ompl/base/goals/GoalState.h>#include <ompl/base/goals/GoalStates.h>#include <ompl/geometric/PathGeometric.h>#include <ompl/datastructures/NearestNeighbors.h>#include <ompl/datastructures/NearestNeighborsGNAT.h>#include <ompl/datastructures/NearestNeighborsLinear.h>#include <ompl/base/spaces/RealVectorStateSpace.h>#include <pr_bgl/compose_property_map.hpp>#include <pr_bgl/graph_io.h>#include <pr_bgl/string_map.h>#include <pr_bgl/vector_ref_property_map.h>#include <pr_bgl/edge_indexed_graph.h>#include <pr_bgl/overlay_manager.h>#include <pr_bgl/lazysp.h>#include <pr_bgl/heap_indexed.h>#include <pr_bgl/pair_index_map.h>#include <pr_bgl/lpastar.h>#include <pr_bgl/incbi.h>#include <pr_bgl/lazysp_incsp_dijkstra.h>#include <pr_bgl/lazysp_incsp_astar.h>#include <pr_bgl/lazysp_incsp_lpastar.h>#include <pr_bgl/lazysp_incsp_incbi.h>#include <pr_bgl/waste_edge_map.h>#include <ompl_lemur/config.h>#include <ompl_lemur/rvstate_map_string_adaptor.h>#include <ompl_lemur/BisectPerm.h>#include <ompl_lemur/NearestNeighborsLinearBGL.h>#include <ompl_lemur/Roadmap.h>#include <ompl_lemur/TagCache.h>#include <ompl_lemur/UtilityChecker.h>#include <ompl_lemur/LEMUR.h>#include <ompl_lemur/lazysp_log_visitor.h>
1.8.6
using 