template class mrpt::graphs::CDirectedGraph
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 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 multiple edges between the same pair of nodes.
See also:
mrpt::graphs::CDijkstra, mrpt::graphs::CNetworkOfPoses, mrpt::graphs::CDirectedTree
#include <mrpt/graphs/CDirectedGraph.h> template < class TYPE_EDGES, class EDGE_ANNOTATIONS = detail::edge_annotations_empty > class CDirectedGraph { public: // typedefs typedef TYPE_EDGES edge_underlying_t; typedef std::multimap<TPairNodeIDs, edge_t> edges_map_t; typedef CDirectedGraph<TYPE_EDGES, EDGE_ANNOTATIONS> self_t; // structs struct edge_t; // fields edges_map_t edges; // construction CDirectedGraph(const edges_map_t& obj); CDirectedGraph(); // methods size_t edgeCount() const; void clearEdges(); void insertEdge(TNodeID from_nodeID, TNodeID to_nodeID, const edge_t& edge_value); void insertEdgeAtEnd(TNodeID from_nodeID, TNodeID to_nodeID, const edge_t& edge_value); bool edgeExists(TNodeID from_nodeID, TNodeID to_nodeID) const; edge_t& getEdge(TNodeID from_nodeID, TNodeID to_nodeID); const edge_t& getEdge(TNodeID from_nodeID, TNodeID to_nodeID) const; std::pair<iterator, iterator> getEdges(TNodeID from_nodeID, TNodeID to_nodeID); std::pair<const_iterator, const_iterator> getEdges(TNodeID from_nodeID, TNodeID to_nodeID) const; void eraseEdge(TNodeID from_nodeID, TNodeID to_nodeID); void getAllNodes(std::set<TNodeID>& lstNode_IDs) const; std::set<TNodeID> getAllNodes() const; size_t countDifferentNodesInEdges() const; void getNeighborsOf(TNodeID const nodeID, std::set<TNodeID>& neighborIDs) const; std::set<TNodeID> getNeighborsOf(TNodeID const nodeID) const; template <class MAP_NODEID_SET_NODEIDS> void getAdjacencyMatrix(MAP_NODEID_SET_NODEIDS& outAdjacency) const; template <class MAP_NODEID_SET_NODEIDS, class SET_NODEIDS> void getAdjacencyMatrix( MAP_NODEID_SET_NODEIDS& outAdjacency, const SET_NODEIDS& onlyForTheseNodes ) const; bool saveAsDot(std::ostream& o, const TGraphvizExportParams& p = TGraphvizExportParams()) const; bool saveAsDot(const std::string& fileName, const TGraphvizExportParams& p = TGraphvizExportParams()) const; }; // direct descendants template < class CPOSE, class MAPS_IMPLEMENTATION = mrpt::containers::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty > class CNetworkOfPoses;
Typedefs
typedef TYPE_EDGES edge_underlying_t
Underlying type for edge_t = TYPE_EDGES + annotations.
typedef std::multimap<TPairNodeIDs, edge_t> edges_map_t
The type of the member edges.
typedef CDirectedGraph<TYPE_EDGES, EDGE_ANNOTATIONS> self_t
Handy self type.
Fields
edges_map_t edges
The public member with the directed edges in the graph.
Construction
CDirectedGraph(const edges_map_t& obj)
Copy constructor from a multimap<pair< >, >
CDirectedGraph()
Default constructor.
Methods
size_t edgeCount() const
The number of edges in the graph.
void clearEdges()
Erase all edges.
void insertEdge(TNodeID from_nodeID, TNodeID to_nodeID, const edge_t& edge_value)
Insert an edge (from -> to) with the given edge value.
See also:
void insertEdgeAtEnd(TNodeID from_nodeID, TNodeID to_nodeID, const edge_t& edge_value)
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).
See also:
bool edgeExists(TNodeID from_nodeID, TNodeID to_nodeID) const
Test if the given directed edge exists.
edge_t& getEdge(TNodeID from_nodeID, TNodeID to_nodeID)
Return a reference to the content of a given edge.
If several edges exist between the given nodes, the first one is returned.
Parameters:
std::exception |
if the given edge does not exist |
See also:
const edge_t& getEdge(TNodeID from_nodeID, TNodeID to_nodeID) const
Return a reference to the content of a given edge.
If several edges exist between the given nodes, the first one is returned.
Parameters:
std::exception |
if the given edge does not exist |
See also:
std::pair<iterator, iterator> getEdges(TNodeID from_nodeID, TNodeID to_nodeID)
Return a pair<first,last> of iterators to the range of edges between two given nodes.
See also:
std::pair<const_iterator, const_iterator> getEdges(TNodeID from_nodeID, TNodeID to_nodeID) const
Return a pair<first,last> of const iterators to the range of edges between two given nodes.
See also:
void eraseEdge(TNodeID from_nodeID, TNodeID to_nodeID)
Erase all edges between the given nodes (it has no effect if no edge existed)
void getAllNodes(std::set<TNodeID>& lstNode_IDs) const
Return a list of all the node_ID’s of the graph, generated from all the nodes that appear in the list of edges.
std::set<TNodeID> getAllNodes() const
Less efficient way to get all nodes that returns a copy of the set object.
See also:
getAllNodes( std::set<TNodeID> &lstNode_IDs)
size_t countDifferentNodesInEdges() const
Count how many different node IDs appear in the graph edges.
void getNeighborsOf(TNodeID const nodeID, std::set<TNodeID>& neighborIDs) const
Return the list of all neighbors of “nodeID”, by creating a list of their node IDs.
See also:
std::set<TNodeID> getNeighborsOf(TNodeID const nodeID) const
Return the list of all neighbors of “nodeID”, by creating a list of their node IDs.
See also:
template <class MAP_NODEID_SET_NODEIDS> void getAdjacencyMatrix(MAP_NODEID_SET_NODEIDS& outAdjacency) const
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> >
See also:
template <class MAP_NODEID_SET_NODEIDS, class SET_NODEIDS> void getAdjacencyMatrix( MAP_NODEID_SET_NODEIDS& outAdjacency, const SET_NODEIDS& onlyForTheseNodes ) const
Just like getAdjacencyMatrix but return only the adjacency for those node_ids in the set onlyForTheseNodes (both endings nodes of an edge must be within the set for it to be returned)
bool saveAsDot(std::ostream& o, const TGraphvizExportParams& p = TGraphvizExportParams()) const
Save the graph in a Graphviz (.dot files) text format; useful for quickly rendering the graph with “dot”.
Returns:
false on any error
bool saveAsDot(const std::string& fileName, const TGraphvizExportParams& p = TGraphvizExportParams()) const
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.