CDirectedGraph.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/core/aligned_allocator.h>
#include <mrpt/core/exceptions.h>
#include <mrpt/graphs/TNodeID.h>
#include <mrpt/typemeta/TTypeName.h>
#include <fstream>
#include <map>
#include <set>

namespace mrpt
{
namespace graphs
{
/** \addtogroup mrpt_graphs_grp
    @{ */

/** Used in mrpt::graphs export functions to .dot files \sa
 * mrpt::graphs::CDirectedGraph::saveAsDot */
struct TGraphvizExportParams
{
    /** If true (default=false), an "[constraint=false]" will be added to all
     * edges (see Graphviz docs). */
    bool mark_edges_as_not_constraint{false};
    /** If provided, these textual names will be used for naming the nodes
     * instead of their numeric IDs given in the edges. */
    std::map<TNodeID, std::string> node_names;
    /** If provided, an extra line will be added setting Graphviz properties for
     * each node, e.g. to set a node position, use the string "pos = \"x,y\"" */
    std::map<TNodeID, std::string> node_props;

    TGraphvizExportParams() = default;
};

namespace detail
{
/** An empty structure */
struct edge_annotations_empty
{
    DECLARE_TTYPENAME_CLASSNAME(mrpt::graphs::detail::edge_annotations_empty)
};
}  // namespace detail

/** A directed graph with the argument of the template specifying the type of
 * the annotations in the edges.
 *  This class only keeps a list of edges (in the member \a edges), so there is
 * no information stored for each node but its existence referred by a node_ID.
 *
 *  Note that edges are stored as a std::multimap<> to allow <b>multiple
 * edges</b> between the same pair of nodes.
 *
 * \sa mrpt::graphs::CDijkstra, mrpt::graphs::CNetworkOfPoses,
 * mrpt::graphs::CDirectedTree
 * \ingroup mrpt_graphs_grp
 */
template <
    class TYPE_EDGES, class EDGE_ANNOTATIONS = detail::edge_annotations_empty>
class CDirectedGraph
{
   public:
    /** The type of each global pose in \a nodes: an extension of the \a
     * TYPE_EDGES pose with any optional user-defined data */
    struct edge_t : public TYPE_EDGES, public EDGE_ANNOTATIONS
    {
        // Replicate possible constructors:
        inline edge_t() : TYPE_EDGES() {}
        template <typename... Args>
        inline edge_t(Args&&... a) : TYPE_EDGES(std::forward<Args>(a)...)
        {
        }
        constexpr static auto getClassName()
        {
            using namespace mrpt::typemeta;
            return literal("edge_t<") + TTypeName<TYPE_EDGES>::get() +
                   literal(",") + TTypeName<EDGE_ANNOTATIONS>::get() +
                   literal(">");
        }
    };
    /** Underlying type for edge_t = TYPE_EDGES + annotations */
    using edge_underlying_t = TYPE_EDGES;
    /** The type of the member \a edges */
    using edges_map_t = std::multimap<TPairNodeIDs, edge_t>;
    using iterator = typename edges_map_t::iterator;
    using reverse_iterator = typename edges_map_t::reverse_iterator;
    using const_iterator = typename edges_map_t::const_iterator;
    using const_reverse_iterator = typename edges_map_t::const_reverse_iterator;
    /**\brief Handy self type */
    using self_t = CDirectedGraph<TYPE_EDGES, EDGE_ANNOTATIONS>;

    /** The public member with the directed edges in the graph */
    edges_map_t edges;

    /** Copy constructor from a multimap<pair< >, > */
    inline CDirectedGraph(const edges_map_t& obj) : edges(obj) {}
    /** Default constructor */
    inline CDirectedGraph() : edges() {}
    inline iterator begin() { return edges.begin(); }
    inline iterator rbegin() { return edges.rbegin(); }
    inline iterator end() { return edges.end(); }
    inline iterator rend() { return edges.rend(); }
    inline const_iterator begin() const { return edges.begin(); }
    inline const_iterator rbegin() const { return edges.rbegin(); }
    inline const_iterator end() const { return edges.end(); }
    inline const_iterator rend() const { return edges.rend(); }
    /** @name Edges/nodes utility methods
        @{ */

    /** The number of edges in the graph */
    inline size_t edgeCount() const { return edges.size(); }
    /** Erase all edges */
    inline void clearEdges() { edges.clear(); }
    /** Insert an edge (from -> to) with the given edge value. \sa
     * insertEdgeAtEnd */
    inline void insertEdge(
        TNodeID from_nodeID, TNodeID to_nodeID, const edge_t& edge_value)
    {
        alignas(MRPT_MAX_STATIC_ALIGN_BYTES)
            typename edges_map_t::value_type entry(
                std::make_pair(from_nodeID, to_nodeID), edge_value);
        edges.insert(entry);
    }

    /** Insert an edge (from -> to) with the given edge value (more efficient
     * version to be called if you know that the end will go at the end of the
     * sorted std::multimap). \sa insertEdge */
    inline void insertEdgeAtEnd(
        TNodeID from_nodeID, TNodeID to_nodeID, const edge_t& edge_value)
    {
        alignas(MRPT_MAX_STATIC_ALIGN_BYTES)
            typename edges_map_t::value_type entry(
                std::make_pair(from_nodeID, to_nodeID), edge_value);
        edges.insert(edges.end(), entry);
    }

    /** Test if the given directed edge exists. */
    inline bool edgeExists(TNodeID from_nodeID, TNodeID to_nodeID) const
    {
        return edges.find(std::make_pair(from_nodeID, to_nodeID)) !=
               edges.end();
    }

    /** Return a reference to the content of a given edge.
     *  If several edges exist between the given nodes, the first one is
     * returned.
     * \exception std::exception if the given edge does not exist
     * \sa getEdges
     */
    edge_t& getEdge(TNodeID from_nodeID, TNodeID to_nodeID)
    {
        iterator it = edges.find(std::make_pair(from_nodeID, to_nodeID));
        if (it == edges.end())
        {
            THROW_EXCEPTION_FMT(
                "Edge %u->%u does not exist", (unsigned)from_nodeID,
                (unsigned)to_nodeID);
        }
        else
            return it->second;
    }

    /** Return a reference to the content of a given edge.
     *  If several edges exist between the given nodes, the first one is
     * returned.
     * \exception std::exception if the given edge does not exist
     * \sa getEdges
     */
    const edge_t& getEdge(TNodeID from_nodeID, TNodeID to_nodeID) const
    {
        const_iterator it = edges.find(std::make_pair(from_nodeID, to_nodeID));
        if (it == edges.end())
        {
            THROW_EXCEPTION_FMT(
                "Edge %u->%u does not exist", (unsigned)from_nodeID,
                (unsigned)to_nodeID);
        }
        else
            return it->second;
    }

    /** Return a pair<first,last> of iterators to the range of edges between two
     * given nodes. \sa getEdge  */
    std::pair<iterator, iterator> getEdges(
        TNodeID from_nodeID, TNodeID to_nodeID)
    {
        return edges.equal_range(std::make_pair(from_nodeID, to_nodeID));
    }
    /** Return a pair<first,last> of const iterators to the range of edges
     * between two given nodes.  \sa getEdge */
    std::pair<const_iterator, const_iterator> getEdges(
        TNodeID from_nodeID, TNodeID to_nodeID) const
    {
        return edges.equal_range(std::make_pair(from_nodeID, to_nodeID));
    }

    /** Erase all edges between the given nodes (it has no effect if no edge
     * existed)
     */
    inline void eraseEdge(TNodeID from_nodeID, TNodeID to_nodeID)
    {
        edges.erase(std::make_pair(from_nodeID, to_nodeID));
    }

    /** Return a list of all the node_ID's of the graph, generated from all the
     * nodes that appear in the list of edges
     */
    void getAllNodes(std::set<TNodeID>& lstNode_IDs) const
    {
        lstNode_IDs.clear();
        for (auto it = edges.begin(); it != edges.end(); ++it)
        {
            lstNode_IDs.insert(it->first.first);
            lstNode_IDs.insert(it->first.second);
        }
    }

    /** Less efficient way to get all nodes that returns a copy of the set
     * object \sa getAllNodes( std::set<TNodeID> &lstNode_IDs) */
    inline std::set<TNodeID> getAllNodes() const
    {
        std::set<TNodeID> lst;
        getAllNodes(lst);
        return lst;
    }

    /** Count how many different node IDs appear in the graph edges.
     */
    size_t countDifferentNodesInEdges() const
    {
        std::set<TNodeID> aux;
        for (typename edges_map_t::const_iterator it = edges.begin();
             it != edges.end(); ++it)
        {
            aux.insert(it->first.first);
            aux.insert(it->first.second);
        }
        return aux.size();
    }

    /** Return the list of all neighbors of "nodeID", by creating a list of
     * their node IDs. \sa getAdjacencyMatrix */
    void getNeighborsOf(
        const TNodeID nodeID, std::set<TNodeID>& neighborIDs) const
    {
        neighborIDs.clear();
        for (typename edges_map_t::const_iterator it = edges.begin();
             it != edges.end(); ++it)
        {
            if (it->first.first == nodeID)
                neighborIDs.insert(it->first.second);
            else if (it->first.second == nodeID)
                neighborIDs.insert(it->first.first);
        }
    }
    /** Return the list of all neighbors of "nodeID", by creating a list of
     * their node IDs. \sa getAdjacencyMatrix */
    std::set<TNodeID> getNeighborsOf(const TNodeID nodeID) const
    {
        std::set<TNodeID> neighborIDs;
        this->getNeighborsOf(nodeID, neighborIDs);
        return neighborIDs;
    }

    /** Return a map from node IDs to all its neighbors (that is, connected
     * nodes, regardless of the edge direction)
     *  This is a much more efficient method than calling getNeighborsOf() for
     * each node in the graph.
     *  Possible values for the template argument MAP_NODEID_SET_NODEIDS are:
     *    - std::map<TNodeID, std::set<TNodeID> >
     *    - mrpt::containers::map_as_vector<TNodeID, std::set<TNodeID> >
     * \sa getNeighborsOf
     */
    template <class MAP_NODEID_SET_NODEIDS>
    void getAdjacencyMatrix(MAP_NODEID_SET_NODEIDS& outAdjacency) const
    {
        outAdjacency.clear();
        for (auto it = edges.begin(); it != edges.end(); ++it)
        {
            outAdjacency[it->first.first].insert(it->first.second);
            outAdjacency[it->first.second].insert(it->first.first);
        }
    }

    /** Just like \a getAdjacencyMatrix but return only the adjacency for those
     * node_ids in the set \a onlyForTheseNodes
     *  (both endings nodes of an edge must be within the set for it to be
     * returned) */
    template <class MAP_NODEID_SET_NODEIDS, class SET_NODEIDS>
    void getAdjacencyMatrix(
        MAP_NODEID_SET_NODEIDS& outAdjacency,
        const SET_NODEIDS& onlyForTheseNodes) const
    {
        outAdjacency.clear();
        const typename SET_NODEIDS::const_iterator setEnd =
            onlyForTheseNodes.end();
        for (typename edges_map_t::const_iterator it = edges.begin();
             it != edges.end(); ++it)
        {
            if (onlyForTheseNodes.find(it->first.first) == setEnd ||
                onlyForTheseNodes.find(it->first.second) == setEnd)
                continue;
            outAdjacency[it->first.first].insert(it->first.second);
            outAdjacency[it->first.second].insert(it->first.first);
        }
    }

    /** @} */  // end of edge/nodes utilities

    /** @name I/O utilities
        @{ */

    /** Save the graph in a Graphviz (.dot files) text format; useful for
     * quickly rendering the graph with "dot"
     * \return false on any error */
    bool saveAsDot(
        std::ostream& o,
        const TGraphvizExportParams& p = TGraphvizExportParams()) const
    {
        o << "digraph G {\n";
        for (const_iterator it = begin(); it != end(); ++it)
        {
            const TNodeID id1 = it->first.first;
            const TNodeID id2 = it->first.second;
            std::string s1, s2;
            if (!p.node_names.empty())
            {
                auto itNam1 = p.node_names.find(id1);
                if (itNam1 != p.node_names.end()) s1 = itNam1->second;
                auto itNam2 = p.node_names.find(id2);
                if (itNam2 != p.node_names.end()) s2 = itNam2->second;
            }
            if (s1.empty()) s1 = std::to_string(id1);
            if (s2.empty()) s2 = std::to_string(id2);
            if (p.node_props.empty())
            {
                auto itP1 = p.node_props.find(id1);
                if (itP1 != p.node_props.end())
                    o << "\"" << s1 << "\""
                      << " [" << itP1->second << "];\n";
                auto itP2 = p.node_props.find(id2);
                if (itP2 != p.node_props.end())
                    o << "\"" << s2 << "\""
                      << " [" << itP2->second << "];\n";
            }
            o << " \"" << s1 << "\" -> \"" << s2 << "\"";
            if (p.mark_edges_as_not_constraint) o << " [constraint=false]";
            o << ";\n";
        }
        return !((o << "}\n").fail());
    }

    /** \overload */
    bool saveAsDot(
        const std::string& fileName,
        const TGraphvizExportParams& p = TGraphvizExportParams()) const
    {
        std::ofstream f(fileName.c_str());
        if (!f.is_open()) return false;
        return saveAsDot(f, p);
    }
    /** @} */

};  // end class CDirectedGraph

/** @} */
}  // namespace graphs
}  // namespace mrpt