Hello, I'm using OMPL (the Open Motion Planning Library) that makes use of Boost. The problem I've got is that I need to access the content of the vertexes of a graph which is returned by an OMPL function. In particular, the OMPL function is const Graph& g = planner->asompl::geometric::PRM()->getRoadmap(); Now, given the graph g, and a vertex v, I need to read the state contained in g[v] and copy it to an OMPL variable. I'd need something like const ompl::base::State* state = FUNCTION_GET_STATE(g,v) ; This way I would be able to extract from variable state the components x,y,z I'm interested in. Is there any way to implement the FUNCTION_GET_STATE ? Thank you! Dan -- View this message in context: http://boost.2283326.n4.nabble.com/Boost-and-OMPL-access-graph-vertex-tp4641... Sent from the Boost - Users mailing list archive at Nabble.com.