Sophie

Sophie

distrib > Fedora > 14 > x86_64 > media > updates > by-pkgid > e7618febbb9cbed15bb79e326774c050 > files > 289

ompl-devel-0.9.5-1.fc14.i686.rpm

<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml; charset=UTF-8"/>
<title>OMPL: src/ompl/base/src/PlannerData.cpp Source File</title>
<meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. Kavraki">
<link rel="stylesheet" href="../css/screen.css" type="text/css" media="screen, projection">
<link rel="stylesheet" href="../css/print.css" type="text/css" media="print">
<!--[if lt IE 7]>
<script type="text/javascript" src="../js/jquery/jquery.js"></script>
<script type="text/javascript" src="../js/jquery/jquery.dropdown.js"></script>
<![endif]-->
<script type="text/javaScript" src="search/search.js"></script>
<script type="text/javascript">
  var _gaq = _gaq || [];
  _gaq.push(['_setAccount', 'UA-9156598-2']);
  _gaq.push(['_trackPageview']);
  (function() {
    var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true;
    ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js';
    var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s);
  })();
</script>
</head>
<body onload='searchBox.OnSelectItem(0);'>
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search API');
--></script>
<div class="navigation" id="top">
  <div class="tabs" id="ompltitle">
    <ul class="tablist">
      <li>The Open Motion Planning Library</li>
      <li id="searchli">
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search API" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)"
               onblur="searchBox.OnSearchFieldFocus(false)"
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>

  <ul id="nav" class="dropdown">
    <li class="first"><a href="index.html">Home</a></li>
    <li><a href="download.html">Download</a></li>
    <li><a href="documentation.html">Documentation</a></li>
    <li><span class="dir">Code API</span>
      <ul>
        <li><a href="api_overview.html">API Overview</a></li>
        <li><a href="namespaces.html">Namespaces</a></li>
        <li><a href="annotated.html">Classes</a></li>
        <li><a href="files.html">Files</a></li>
        <li><a href="dirs.html">Directories</a></li>
      </ul>
    </li>
    <li><span class="dir">Community</span>
      <ul>
        <li><a href="developers.html">Developers</a></li>
        <li><a href="thirdparty.html">Contributions</a></li>
        <li><a href="education.html">Education</a></li>
        <li><a href="gallery.html">Gallery</a></li>
      </ul>
    </li>
    <li><span class="dir">About</span>
      <ul>
        <li><a href="license.html">License</a></li>
        <li><a href="citations.html">Citations</a></li>
        <li><a href="acknowledgements.html">Acknowledgments</a></li>
        <li><a href="contact.html">Contact Us</a></li>
      </ul>
    </li>
  </ul>
</div>

<!--- window showing the filter options -->
<div id="MSearchSelectWindow"
  onmouseover="return searchBox.OnSearchSelectShow()"
  onmouseout="return searchBox.OnSearchSelectHide()"
  onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark">&#160;</span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark">&#160;</span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark">&#160;</span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark">&#160;</span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark">&#160;</span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark">&#160;</span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark">&#160;</span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark">&#160;</span>Enumerator</a></div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
  <iframe src="" frameborder="0"name="MSearchResults" id="MSearchResults"></iframe>
</div>

<div class="container">
  <div class="span-22 push-2 first last">
  <div>
<!-- Generated by Doxygen 1.7.4 -->
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search');
--></script>
  <div id="nav-path" class="navpath">
    <ul>
      <li class="navelem"><a class="el" href="dir_f5421e52a658cd938113ed6044324834.html">src</a>      </li>
      <li class="navelem"><a class="el" href="dir_ae92c2ff78847f0cb49b545f9089bbbc.html">ompl</a>      </li>
      <li class="navelem"><a class="el" href="dir_40bc83a902349ad67ef9d1cb49964511.html">base</a>      </li>
      <li class="navelem"><a class="el" href="dir_638c121d1114340bf3e84a5e9d67e9f2.html">src</a>      </li>
    </ul>
  </div>
</div>
<div class="header">
  <div class="headertitle">
<div class="title">PlannerData.cpp</div>  </div>
</div>
<div class="contents">
<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">*  Copyright (c) 2011, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">*  All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">*  Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">*  modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">*  are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">*   * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">*     notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">*   * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">*     copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">*     disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">*     with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">*   * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">*     contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">*     from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">*  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">*  POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034 
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036 
<a name="l00037"></a>00037 <span class="preprocessor">#include &quot;ompl/base/PlannerData.h&quot;</span>
<a name="l00038"></a>00038 
<a name="l00039"></a><a class="code" href="classompl_1_1base_1_1PlannerData.html#afd200a59748113994a65ed00b965e984">00039</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1PlannerData.html#afd200a59748113994a65ed00b965e984" title="Clear any stored data.">ompl::base::PlannerData::clear</a>(<span class="keywordtype">void</span>)
<a name="l00040"></a>00040 {
<a name="l00041"></a>00041     <a class="code" href="classompl_1_1base_1_1PlannerData.html#ae2ad67337a486f6e96ad6b66378f56bd" title="The same list of states as above, provided for convenience, in a manner that allows finding out a sta...">stateIndex</a>.clear();
<a name="l00042"></a>00042     <a class="code" href="classompl_1_1base_1_1PlannerData.html#a7f2d6be893b0165ac2348750a40ef389" title="The list of states in the current exploration datastructure.">states</a>.clear();
<a name="l00043"></a>00043     <a class="code" href="classompl_1_1base_1_1PlannerData.html#a57a31bc614ab0a1243c5a4cd07a8511a" title="For every state, a tag may be associated by the planner. For example, a bi-directional planner may as...">tags</a>.clear();
<a name="l00044"></a>00044     <a class="code" href="classompl_1_1base_1_1PlannerData.html#af420313f052ef87fc4935e71c6d474e9" title="For each i, edges[i] contains the values edges[i][j] such that states[i] connects to every states[edg...">edges</a>.clear();
<a name="l00045"></a>00045     <a class="code" href="classompl_1_1base_1_1PlannerData.html#aca9e2da9d9a46e42c516fc8b926ab65c" title="Any extra properties (key-value pairs) the planner can set.">properties</a>.clear();
<a name="l00046"></a>00046     <a class="code" href="classompl_1_1base_1_1PlannerData.html#a208850b8ba88f895e5e0367b018144cb" title="The space information containing the states of the exploration datastructure.">si</a>.reset();
<a name="l00047"></a>00047 }
<a name="l00048"></a>00048 
<a name="l00049"></a><a class="code" href="classompl_1_1base_1_1PlannerData.html#a8de56c12227187dbb8d2c81af916f146">00049</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1PlannerData.html#a8de56c12227187dbb8d2c81af916f146" title="Assign a tag to a state.">ompl::base::PlannerData::tagState</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *s, <span class="keywordtype">int</span> tag)
<a name="l00050"></a>00050 {
<a name="l00051"></a>00051     <span class="keywordflow">if</span> (s != NULL)
<a name="l00052"></a>00052     {
<a name="l00053"></a>00053         std::map&lt;const State*, unsigned int&gt;::iterator it = stateIndex.find(s);
<a name="l00054"></a>00054         <span class="keywordflow">if</span> (it == stateIndex.end())
<a name="l00055"></a>00055         {
<a name="l00056"></a>00056             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> p = states.size();
<a name="l00057"></a>00057             states.push_back(s);
<a name="l00058"></a>00058             tags.push_back(tag);
<a name="l00059"></a>00059             stateIndex[s] = p;
<a name="l00060"></a>00060             edges.resize(states.size());
<a name="l00061"></a>00061         }
<a name="l00062"></a>00062         <span class="keywordflow">else</span>
<a name="l00063"></a>00063             tags[it-&gt;second] = tag;
<a name="l00064"></a>00064     }
<a name="l00065"></a>00065 }
<a name="l00066"></a>00066 
<a name="l00067"></a><a class="code" href="classompl_1_1base_1_1PlannerData.html#aa11d568e75a53a0fecddbecbc05ca429">00067</a> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1PlannerData.html#aa11d568e75a53a0fecddbecbc05ca429" title="Record an edge between two states. This function is called by planners to fill states, stateIndex and edges. If the same state/edge is seen multiple times, it is added only once.">ompl::base::PlannerData::recordEdge</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *s1, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *s2)
<a name="l00068"></a>00068 {
<a name="l00069"></a>00069     <span class="keywordflow">if</span> (s1 == NULL || s2 == NULL)
<a name="l00070"></a>00070     {
<a name="l00071"></a>00071         <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *s = s1 == NULL ? s2 : s1;
<a name="l00072"></a>00072         <span class="keywordflow">if</span> (s != NULL)
<a name="l00073"></a>00073         {
<a name="l00074"></a>00074             std::map&lt;const State*, unsigned int&gt;::iterator it = stateIndex.find(s);
<a name="l00075"></a>00075             <span class="keywordflow">if</span> (it == stateIndex.end())
<a name="l00076"></a>00076             {
<a name="l00077"></a>00077                 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> p = states.size();
<a name="l00078"></a>00078                 states.push_back(s);
<a name="l00079"></a>00079                 tags.push_back(0);
<a name="l00080"></a>00080                 stateIndex[s] = p;
<a name="l00081"></a>00081                 edges.resize(states.size());
<a name="l00082"></a>00082             }
<a name="l00083"></a>00083         }
<a name="l00084"></a>00084         <span class="keywordflow">return</span> -1;
<a name="l00085"></a>00085     }
<a name="l00086"></a>00086     <span class="keywordflow">else</span>
<a name="l00087"></a>00087     {
<a name="l00088"></a>00088         std::map&lt;const State*, unsigned int&gt;::iterator it1 = stateIndex.find(s1);
<a name="l00089"></a>00089         std::map&lt;const State*, unsigned int&gt;::iterator it2 = stateIndex.find(s2);
<a name="l00090"></a>00090 
<a name="l00091"></a>00091         <span class="keywordtype">bool</span> newEdge = <span class="keyword">false</span>;
<a name="l00092"></a>00092 
<a name="l00093"></a>00093         <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> p1;
<a name="l00094"></a>00094         <span class="keywordflow">if</span> (it1 == stateIndex.end())
<a name="l00095"></a>00095         {
<a name="l00096"></a>00096             p1 = states.size();
<a name="l00097"></a>00097             states.push_back(s1);
<a name="l00098"></a>00098             tags.push_back(0);
<a name="l00099"></a>00099             stateIndex[s1] = p1;
<a name="l00100"></a>00100             edges.resize(states.size());
<a name="l00101"></a>00101             newEdge = <span class="keyword">true</span>;
<a name="l00102"></a>00102         }
<a name="l00103"></a>00103         <span class="keywordflow">else</span>
<a name="l00104"></a>00104             p1 = it1-&gt;second;
<a name="l00105"></a>00105 
<a name="l00106"></a>00106         <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> p2;
<a name="l00107"></a>00107         <span class="keywordflow">if</span> (it2 == stateIndex.end())
<a name="l00108"></a>00108         {
<a name="l00109"></a>00109             p2 = states.size();
<a name="l00110"></a>00110             states.push_back(s2);
<a name="l00111"></a>00111             tags.push_back(0);
<a name="l00112"></a>00112             stateIndex[s2] = p2;
<a name="l00113"></a>00113             edges.resize(states.size());
<a name="l00114"></a>00114             newEdge = <span class="keyword">true</span>;
<a name="l00115"></a>00115         }
<a name="l00116"></a>00116         <span class="keywordflow">else</span>
<a name="l00117"></a>00117             p2 = it2-&gt;second;
<a name="l00118"></a>00118 
<a name="l00119"></a>00119         <span class="comment">// if we are not yet sure this is a new edge, we check indeed if this edge exists</span>
<a name="l00120"></a>00120         <span class="keywordflow">if</span> (!newEdge)
<a name="l00121"></a>00121         {
<a name="l00122"></a>00122             newEdge = <span class="keyword">true</span>;
<a name="l00123"></a>00123             <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; edges[p1].size() ; ++i)
<a name="l00124"></a>00124                 <span class="keywordflow">if</span> (edges[p1][i] == p2)
<a name="l00125"></a>00125                 {
<a name="l00126"></a>00126                     newEdge = <span class="keyword">false</span>;
<a name="l00127"></a>00127                     <span class="keywordflow">break</span>;
<a name="l00128"></a>00128                 }
<a name="l00129"></a>00129         }
<a name="l00130"></a>00130 
<a name="l00131"></a>00131         <span class="keywordflow">if</span> (newEdge)
<a name="l00132"></a>00132         {
<a name="l00133"></a>00133             edges[p1].push_back(p2);
<a name="l00134"></a>00134             <span class="keywordflow">return</span> p1;
<a name="l00135"></a>00135         }
<a name="l00136"></a>00136         <span class="keywordflow">else</span>
<a name="l00137"></a>00137             <span class="keywordflow">return</span> -1;
<a name="l00138"></a>00138     }
<a name="l00139"></a>00139 }
<a name="l00140"></a>00140 
<a name="l00141"></a><a class="code" href="classompl_1_1base_1_1PlannerData.html#ae902e62fa8a2a26cb2b5a003d63a5ccb">00141</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1PlannerData.html#ae902e62fa8a2a26cb2b5a003d63a5ccb" title="Print this data to a stream.">ompl::base::PlannerData::print</a>(std::ostream &amp;out)<span class="keyword"> const</span>
<a name="l00142"></a>00142 <span class="keyword"></span>{
<a name="l00143"></a>00143     out &lt;&lt; states.size() &lt;&lt; std::endl;
<a name="l00144"></a>00144     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; states.size() ; ++i)
<a name="l00145"></a>00145     {
<a name="l00146"></a>00146         out &lt;&lt; i &lt;&lt; <span class="stringliteral">&quot; (tag=&quot;</span>&lt;&lt; tags[i] &lt;&lt; <span class="stringliteral">&quot;): &quot;</span>;
<a name="l00147"></a>00147         <span class="keywordflow">if</span> (si)
<a name="l00148"></a>00148             si-&gt;printState(states[i], out);
<a name="l00149"></a>00149         <span class="keywordflow">else</span>
<a name="l00150"></a>00150             out &lt;&lt; states[i] &lt;&lt; std::endl;
<a name="l00151"></a>00151     }
<a name="l00152"></a>00152 
<a name="l00153"></a>00153     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; edges.size() ; ++i)
<a name="l00154"></a>00154     {
<a name="l00155"></a>00155         <span class="keywordflow">if</span> (edges[i].empty())
<a name="l00156"></a>00156             <span class="keywordflow">continue</span>;
<a name="l00157"></a>00157         out &lt;&lt; i &lt;&lt; <span class="stringliteral">&quot;: &quot;</span>;
<a name="l00158"></a>00158         <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0 ; j &lt; edges[i].size() ; ++j)
<a name="l00159"></a>00159             out &lt;&lt; edges[i][j] &lt;&lt; <span class="charliteral">&#39; &#39;</span>;
<a name="l00160"></a>00160         out &lt;&lt; std::endl;
<a name="l00161"></a>00161     }
<a name="l00162"></a>00162 }
</pre></div></div>
</div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark">&#160;</span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark">&#160;</span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark">&#160;</span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark">&#160;</span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark">&#160;</span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark">&#160;</span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark">&#160;</span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark">&#160;</span>Enumerator</a></div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

</div>

<div class="footer span-22 push-2 last">
  <a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> &bull;
  <a href="http://www.cs.rice.edu">Department of Computer Science</a> &bull;
  <a href="http://www.rice.edu">Rice University</a><br>
  <div class="gray">Generated on Sun Oct 9 2011 23:04:39 by&#160;<a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div>
</div>
</div>
</body>
</html>

Perl :: Catalyst :: PostgreSQL :: RPM Valid HTML 4.01 Transitional