Detailed Description
template<class TYPE_EDGES, class EDGE_ANNOTATIONS = detail::edge_annotations_empty>
class mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >
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.
Definition at line 55 of file CDirectedGraph.h.
#include <mrpt/graphs/CDirectedGraph.h>
Classes | |
| struct | edge_t |
| The type of each global pose in nodes: an extension of the TYPE_EDGES pose with any optional user-defined data. More... | |
Public Types | |
| typedef TYPE_EDGES | edge_underlying_t |
| typedef mrpt::aligned_containers< TPairNodeIDs, edge_t >::multimap_t | edges_map_t |
| The type of the member edges. More... | |
| typedef edges_map_t::iterator | iterator |
| typedef edges_map_t::reverse_iterator | reverse_iterator |
| typedef edges_map_t::const_iterator | const_iterator |
| typedef edges_map_t::const_reverse_iterator | const_reverse_iterator |
| typedef CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS > | self_t |
| Handy self type. More... | |
Public Member Functions | |
| CDirectedGraph (const edges_map_t &obj) | |
| Copy constructor from a multimap<pair< >, > More... | |
| CDirectedGraph () | |
| Default constructor. More... | |
| iterator | begin () |
| iterator | rbegin () |
| iterator | end () |
| iterator | rend () |
| const_iterator | begin () const |
| const_iterator | rbegin () const |
| const_iterator | end () const |
| const_iterator | rend () const |
Edges/nodes utility methods | |
| size_t | edgeCount () const |
| The number of edges in the graph. More... | |
| void | clearEdges () |
| Erase all edges. More... | |
| void | insertEdge (TNodeID from_nodeID, TNodeID to_nodeID, const edge_t &edge_value) |
| Insert an edge (from -> to) with the given edge value. More... | |
| 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). More... | |
| bool | edgeExists (TNodeID from_nodeID, TNodeID to_nodeID) const |
| Test if the given directed edge exists. More... | |
| edge_t & | getEdge (TNodeID from_nodeID, TNodeID to_nodeID) |
| Return a reference to the content of a given edge. More... | |
| const edge_t & | getEdge (TNodeID from_nodeID, TNodeID to_nodeID) const |
| Return a reference to the content of a given edge. More... | |
| 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. More... | |
| 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. More... | |
| void | eraseEdge (TNodeID from_nodeID, TNodeID to_nodeID) |
| Erase all edges between the given nodes (it has no effect if no edge existed) More... | |
| 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. More... | |
| std::set< TNodeID > | getAllNodes () const |
| Less efficient way to get all nodes that returns a copy of the set object. More... | |
| size_t | countDifferentNodesInEdges () const |
| Count how many different node IDs appear in the graph edges. More... | |
| void | getNeighborsOf (const TNodeID nodeID, std::set< TNodeID > &neighborIDs) const |
| Return the list of all neighbors of "nodeID", by creating a list of their node IDs. More... | |
| std::set< TNodeID > | getNeighborsOf (const TNodeID nodeID) const |
| Return the list of all neighbors of "nodeID", by creating a list of their node IDs. More... | |
| 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. More... | |
| 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) More... | |
I/O utilities | |
| 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". More... | |
| bool | saveAsDot (const std::string &fileName, const TGraphvizExportParams &p=TGraphvizExportParams()) const |
Public Attributes | |
| edges_map_t | edges |
| The public member with the directed edges in the graph. More... | |
Member Typedef Documentation
◆ const_iterator
| typedef edges_map_t::const_iterator mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::const_iterator |
Definition at line 71 of file CDirectedGraph.h.
◆ const_reverse_iterator
| typedef edges_map_t::const_reverse_iterator mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::const_reverse_iterator |
Definition at line 72 of file CDirectedGraph.h.
◆ edge_underlying_t
| typedef TYPE_EDGES mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edge_underlying_t |
Definition at line 66 of file CDirectedGraph.h.
◆ edges_map_t
| typedef mrpt::aligned_containers<TPairNodeIDs,edge_t>::multimap_t mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges_map_t |
The type of the member edges.
Definition at line 68 of file CDirectedGraph.h.
◆ iterator
| typedef edges_map_t::iterator mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::iterator |
Definition at line 69 of file CDirectedGraph.h.
◆ reverse_iterator
| typedef edges_map_t::reverse_iterator mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::reverse_iterator |
Definition at line 70 of file CDirectedGraph.h.
◆ self_t
| typedef CDirectedGraph<TYPE_EDGES, EDGE_ANNOTATIONS> mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::self_t |
Handy self type.
Definition at line 74 of file CDirectedGraph.h.
Constructor & Destructor Documentation
◆ CDirectedGraph() [1/2]
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inline |
Copy constructor from a multimap<pair< >, >
Definition at line 80 of file CDirectedGraph.h.
◆ CDirectedGraph() [2/2]
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Default constructor.
Definition at line 81 of file CDirectedGraph.h.
Member Function Documentation
◆ begin() [1/2]
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inline |
Definition at line 83 of file CDirectedGraph.h.
Referenced by mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawEdges(), mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::mergeGraph(), and mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::saveAsDot().
◆ begin() [2/2]
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inline |
Definition at line 87 of file CDirectedGraph.h.
◆ clearEdges()
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Erase all edges.
Definition at line 96 of file CDirectedGraph.h.
Referenced by mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::extractSubGraph().
◆ countDifferentNodesInEdges()
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inline |
Count how many different node IDs appear in the graph edges.
Definition at line 180 of file CDirectedGraph.h.
◆ edgeCount()
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inline |
The number of edges in the graph.
Definition at line 95 of file CDirectedGraph.h.
◆ edgeExists()
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inline |
Test if the given directed edge exists.
Definition at line 118 of file CDirectedGraph.h.
◆ end() [1/2]
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inline |
Definition at line 85 of file CDirectedGraph.h.
Referenced by mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawEdges(), mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::mergeGraph(), and mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::saveAsDot().
◆ end() [2/2]
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Definition at line 89 of file CDirectedGraph.h.
◆ eraseEdge()
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inline |
Erase all edges between the given nodes (it has no effect if no edge existed)
Definition at line 159 of file CDirectedGraph.h.
◆ getAdjacencyMatrix() [1/2]
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inline |
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::utils::map_as_vector<TNodeID, std::set<TNodeID> >
- See also
- getNeighborsOf
Definition at line 218 of file CDirectedGraph.h.
◆ getAdjacencyMatrix() [2/2]
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inline |
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)
Definition at line 231 of file CDirectedGraph.h.
◆ getAllNodes() [1/2]
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inline |
Return a list of all the node_ID's of the graph, generated from all the nodes that appear in the list of edges.
Definition at line 165 of file CDirectedGraph.h.
◆ getAllNodes() [2/2]
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inline |
Less efficient way to get all nodes that returns a copy of the set object.
- See also
- getAllNodes( std::set<TNodeID> &lstNode_IDs)
Definition at line 176 of file CDirectedGraph.h.
Referenced by mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::getAllNodes().
◆ getEdge() [1/2]
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inline |
Return a reference to the content of a given edge.
If several edges exist between the given nodes, the first one is returned.
- Exceptions
-
std::exception if the given edge does not exist
- See also
- getEdges
Definition at line 127 of file CDirectedGraph.h.
◆ getEdge() [2/2]
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inline |
Return a reference to the content of a given edge.
If several edges exist between the given nodes, the first one is returned.
- Exceptions
-
std::exception if the given edge does not exist
- See also
- getEdges
Definition at line 140 of file CDirectedGraph.h.
◆ getEdges() [1/2]
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inline |
Return a pair<first,last> of iterators to the range of edges between two given nodes.
- See also
- getEdge
Definition at line 149 of file CDirectedGraph.h.
◆ getEdges() [2/2]
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inline |
Return a pair<first,last> of const iterators to the range of edges between two given nodes.
- See also
- getEdge
Definition at line 153 of file CDirectedGraph.h.
◆ getNeighborsOf() [1/2]
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inline |
Return the list of all neighbors of "nodeID", by creating a list of their node IDs.
- See also
- getAdjacencyMatrix
Definition at line 192 of file CDirectedGraph.h.
Referenced by mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::extractSubGraph(), and mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::getNeighborsOf().
◆ getNeighborsOf() [2/2]
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inline |
Return the list of all neighbors of "nodeID", by creating a list of their node IDs.
- See also
- getAdjacencyMatrix
Definition at line 204 of file CDirectedGraph.h.
◆ insertEdge()
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inline |
Insert an edge (from -> to) with the given edge value.
- See also
- insertEdgeAtEnd
Definition at line 100 of file CDirectedGraph.h.
Referenced by mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::addVirtualEdge(), and mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::extractSubGraph().
◆ insertEdgeAtEnd()
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inline |
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
- insertEdge
Definition at line 109 of file CDirectedGraph.h.
Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates().
◆ rbegin() [1/2]
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Definition at line 84 of file CDirectedGraph.h.
◆ rbegin() [2/2]
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Definition at line 88 of file CDirectedGraph.h.
◆ rend() [1/2]
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Definition at line 86 of file CDirectedGraph.h.
◆ rend() [2/2]
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Definition at line 90 of file CDirectedGraph.h.
◆ saveAsDot() [1/2]
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Save the graph in a Graphviz (.dot files) text format; useful for quickly rendering the graph with "dot".
- Returns
- false on any error
Definition at line 252 of file CDirectedGraph.h.
Referenced by mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::saveAsDot().
◆ saveAsDot() [2/2]
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inline |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
Definition at line 284 of file CDirectedGraph.h.
Member Data Documentation
◆ edges
| edges_map_t mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges |
The public member with the directed edges in the graph.
Definition at line 77 of file CDirectedGraph.h.
Referenced by mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::begin(), mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::clearEdges(), mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::countDifferentNodesInEdges(), mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::edgeCount(), mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::edgeExists(), mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::end(), mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::eraseEdge(), mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::getAdjacencyMatrix(), mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::getAllNodes(), mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::getEdge(), mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::getEdges(), mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::getNeighborsOf(), mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::insertEdge(), mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::insertEdgeAtEnd(), mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::rbegin(), and mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::rend().