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/* Author: Based on examples from BGL documentation  */

#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLEGRAPH_GOALVISITOR_
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLEGRAPH_GOALVISITOR_

#include <boost/graph/astar_search.hpp>

namespace
{
    struct BundleSpaceGraphFoundGoal
    {
    };

    template <typename V>
    class BundleSpaceGraphGoalVisitor : public boost::default_astar_visitor
    {
    public:
        BundleSpaceGraphGoalVisitor(const V &goal) : goal_(goal)
        {
        }

        template <typename G>
        void examine_vertex(const V &u, const G &)
        {
            if (u == goal_)
            {
                throw BundleSpaceGraphFoundGoal();
            }
        }

    private:
        V goal_;
    };
}  // namespace
#endif
