CDirectedTree.h

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/* +------------------------------------------------------------------------+
   |                     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/graphs/TNodeID.h>
#include <list>
#include <sstream>

namespace mrpt::graphs
{
/** A special kind of graph in the form of a tree with directed edges and
 *optional edge annotations of templatized type "TYPE_EDGES".
 *  The tree is represented by means of:
 *      - \a root: The ID of the root node.
 *      - \a edges_to_children: A map from node ID to all the edges to its
 *children.
 *
 *  Note that nodes are *not* explicitly listed anywhere: their existence is
 *only inferred from their ID numbers in the list
 *  of edges in the \a edges_to_children data structure. If you want to include
 *information for each node, derive from this class
 *  and create a separate container for that data.
 *
 *  This class is less general than CDirectedGraph but more efficient to
 *traverse (see \a visitDepthFirst and \a visitBreadthFirst).
 *
 *  If annotations in edges are not required, you can leave TYPE_EDGES to its
 *default type "uint8_t".
 *
 *  Example of insertion of a new edge:
 *  \code
 *  using my_tree_t = CDirectedTree<edge_t> ;
 *  my_tree_t  tree;
 *  TNodeID id_root = XXX;
 *  TNodeID id_child = XXX;
 *  my_tree_t::TListEdges & edges_of_root = tree.edges_to_children[id_root];
 *  edges_of_root.push_back( my_tree_t::TEdgeInfo(id_child,false, edge_t(...) )
 *);
 *  \endcode
 *
 *  \sa CDirectedGraph, CDijkstra, mrpt::graphs::CNetworkOfPoses
 * \ingroup mrpt_graphs_grp
 */
template <class TYPE_EDGES = uint8_t>
class CDirectedTree
{
   public:
    struct TEdgeInfo
    {
        /** The ID of the child node. */
        TNodeID id;
        /** True if edge direction is child->parent, false if it's
         * parent->child. */
        bool reverse;
        /** User data for this edge. */
        TYPE_EDGES data;

        /** Edge constructor from data */
        TEdgeInfo(
            TNodeID child_id_, bool direction_child_to_parent = false,
            const TYPE_EDGES& edge_data = TYPE_EDGES())
            : id(child_id_), reverse(direction_child_to_parent), data(edge_data)
        {
        }
    };

    using TListEdges = std::list<TEdgeInfo>;
    using TMapNode2ListEdges = std::map<TNodeID, TListEdges>;

    /** @name Data
        @{ */
    /** The root of the tree */
    TNodeID root;
    /** The edges of each node */
    TMapNode2ListEdges edges_to_children;
    /** @} */

    /** @name Utilities
        @{ */

    /** Empty all edge data and set "root" to INVALID_NODEID */
    void clear()
    {
        edges_to_children.clear();
        root = INVALID_NODEID;
    }

    /** Virtual base class for user-defined visitors */
    struct Visitor
    {
        using tree_t = CDirectedTree<TYPE_EDGES>;

        /** Virtual method to be implemented by the user and which will be
         * called during the visit to a graph with visitDepthFirst or
         * visitBreadthFirst
         *  Specifically, the method will be called once for each <b>edge</b>
         * in the tree.
         * \param parent [IN] The ID of the parent node.
         * \param edge_to_child [IN] The edge information from the parent to
         * "edge_to_child.id"
         * \param depth_level [IN] The "depth level" of the child node
         * "edge_to_child.id" (root node is at 0, its children are at 1, etc.).
         */
        virtual void OnVisitNode(
            const TNodeID parent,
            const typename tree_t::TEdgeInfo& edge_to_child,
            const size_t depth_level) = 0;
    };

    /** Depth-first visit of all children nodes of a given root (itself excluded
     * from the visit), invoking a user-provided function for each node/edge.
     * \sa visitBreadthFirst */
    void visitDepthFirst(
        const TNodeID vroot, Visitor& user_visitor,
        const size_t root_depth_level = 0) const
    {
        const size_t next_depth_level = root_depth_level + 1;
        auto itChildren = edges_to_children.find(vroot);
        if (itChildren == edges_to_children.end()) return;  // No children
        const TListEdges& children = itChildren->second;
        for (auto itEdge = children.begin(); itEdge != children.end(); ++itEdge)
        {
            user_visitor.OnVisitNode(vroot, *itEdge, next_depth_level);
            visitDepthFirst(
                itEdge->id, user_visitor,
                next_depth_level);  // Recursive depth-first call.
        }
    }

    /** Breadth-first visit of all children nodes of a given root (itself
     * excluded from the visit), invoking a user-provided function for each
     * node/edge. \sa visitDepthFirst */
    void visitBreadthFirst(
        const TNodeID vroot, Visitor& user_visitor,
        const size_t root_depth_level = 0) const
    {
        const size_t next_depth_level = root_depth_level + 1;
        auto itChildren = edges_to_children.find(vroot);
        if (itChildren == edges_to_children.end()) return;  // No children
        const TListEdges& children = itChildren->second;
        for (auto itEdge = children.begin(); itEdge != children.end(); ++itEdge)
            user_visitor.OnVisitNode(vroot, *itEdge, next_depth_level);
        for (auto itEdge = children.begin(); itEdge != children.end(); ++itEdge)
            visitDepthFirst(
                itEdge->id, user_visitor,
                next_depth_level);  // Recursive breath-first call.
    }

    /** Return a text representation of the tree spanned in a depth-first view,
     * as in this example:
     *  \code
     *    0
     *     -> 1
     *     -> 2
     *         -> 4
     *         -> 5
     *     -> 3
     *  \endcode
     */
    std::string getAsTextDescription() const
    {
        std::stringstream s;
        struct CMyVisitor
            : public mrpt::graphs::CDirectedTree<TYPE_EDGES>::Visitor
        {
            std::stringstream& m_s;
            CMyVisitor(std::stringstream& s) : m_s(s) {}
            void OnVisitNode(
                const TNodeID parent,
                const typename mrpt::graphs::CDirectedTree<
                    TYPE_EDGES>::Visitor::tree_t::TEdgeInfo& edge_to_child,
                const size_t depth_level) override
            {
                m_s << std::string(depth_level * 5, ' ')
                    << (edge_to_child.reverse ? "<-" : "->")  //;
                    << edge_to_child.id << std::endl;
            }
        };
        CMyVisitor myVisitor(s);
        s << root << std::endl;
        visitDepthFirst(root, myVisitor);
        return s.str();
    }
};

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