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 68 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 | |
| using | edges_map_t = mrpt::aligned_std_multimap< TPairNodeIDs, edge_t > |
| The type of the member edges. More... | |
| 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 |
| using | self_t = CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS > |
| 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 |
| This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More... | |
Public Attributes | |
| edges_map_t | edges |
| The public member with the directed edges in the graph. More... | |
Member Typedef Documentation
◆ const_iterator
| using mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::const_iterator = typename edges_map_t::const_iterator |
Definition at line 94 of file CDirectedGraph.h.
◆ const_reverse_iterator
| using mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::const_reverse_iterator = typename edges_map_t::const_reverse_iterator |
Definition at line 95 of file CDirectedGraph.h.
◆ edges_map_t
| using mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges_map_t = mrpt::aligned_std_multimap<TPairNodeIDs, edge_t> |
The type of the member edges.
Definition at line 91 of file CDirectedGraph.h.
◆ iterator
| using mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::iterator = typename edges_map_t::iterator |
Definition at line 92 of file CDirectedGraph.h.
◆ reverse_iterator
| using mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::reverse_iterator = typename edges_map_t::reverse_iterator |
Definition at line 93 of file CDirectedGraph.h.
◆ self_t
| using mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::self_t = CDirectedGraph<TYPE_EDGES, EDGE_ANNOTATIONS> |
Handy self type.
Definition at line 97 of file CDirectedGraph.h.
Constructor & Destructor Documentation
◆ CDirectedGraph() [1/2]
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inline |
Copy constructor from a multimap<pair< >, >
Definition at line 103 of file CDirectedGraph.h.
◆ CDirectedGraph() [2/2]
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inline |
Default constructor.
Definition at line 105 of file CDirectedGraph.h.
Member Function Documentation
◆ begin() [1/2]
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inline |
◆ begin() [2/2]
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inline |
Definition at line 110 of file CDirectedGraph.h.
◆ clearEdges()
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Erase all edges.
Definition at line 120 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 235 of file CDirectedGraph.h.
◆ edgeCount()
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inline |
The number of edges in the graph.
Definition at line 118 of file CDirectedGraph.h.
◆ edgeExists()
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inline |
Test if the given directed edge exists.
Definition at line 143 of file CDirectedGraph.h.
◆ end() [1/2]
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◆ end() [2/2]
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Definition at line 112 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 205 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 281 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 297 of file CDirectedGraph.h.
◆ getAllNodes() [1/2]
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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 226 of file CDirectedGraph.h.
Referenced by mrpt::graphs::CDirectedGraph< CPOSE, mrpt::graphs::detail::edge_annotations_empty >::getAllNodes().
◆ getAllNodes() [2/2]
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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 213 of file CDirectedGraph.h.
◆ 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 155 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 174 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 189 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 196 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 264 of file CDirectedGraph.h.
◆ 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 249 of file CDirectedGraph.h.
Referenced by mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::extractSubGraph(), and mrpt::graphs::CDirectedGraph< CPOSE, mrpt::graphs::detail::edge_annotations_empty >::getNeighborsOf().
◆ insertEdge()
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inline |
Insert an edge (from -> to) with the given edge value.
- See also
- insertEdgeAtEnd
Definition at line 123 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 134 of file CDirectedGraph.h.
Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates().
◆ rbegin() [1/2]
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Definition at line 107 of file CDirectedGraph.h.
◆ rbegin() [2/2]
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Definition at line 111 of file CDirectedGraph.h.
◆ rend() [1/2]
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Definition at line 109 of file CDirectedGraph.h.
◆ rend() [2/2]
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Definition at line 113 of file CDirectedGraph.h.
◆ saveAsDot() [1/2]
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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 365 of file CDirectedGraph.h.
◆ saveAsDot() [2/2]
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inline |
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 323 of file CDirectedGraph.h.
Referenced by mrpt::graphs::CDirectedGraph< CPOSE, mrpt::graphs::detail::edge_annotations_empty >::saveAsDot().
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 100 of file CDirectedGraph.h.
Referenced by mrpt::graphs::CDirectedGraph< CPOSE, mrpt::graphs::detail::edge_annotations_empty >::begin(), mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::clear(), mrpt::graphs::CDirectedGraph< CPOSE, mrpt::graphs::detail::edge_annotations_empty >::clearEdges(), mrpt::graphs::CDirectedGraph< CPOSE, mrpt::graphs::detail::edge_annotations_empty >::countDifferentNodesInEdges(), mrpt::graphs::CDirectedGraph< CPOSE, mrpt::graphs::detail::edge_annotations_empty >::edgeCount(), mrpt::graphs::CDirectedGraph< CPOSE, mrpt::graphs::detail::edge_annotations_empty >::edgeExists(), mrpt::graphs::CDirectedGraph< CPOSE, mrpt::graphs::detail::edge_annotations_empty >::end(), mrpt::graphs::CDirectedGraph< CPOSE, mrpt::graphs::detail::edge_annotations_empty >::eraseEdge(), mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::extractSubGraph(), mrpt::graphs::CDirectedGraph< CPOSE, mrpt::graphs::detail::edge_annotations_empty >::getAdjacencyMatrix(), mrpt::graphs::CDirectedGraph< CPOSE, mrpt::graphs::detail::edge_annotations_empty >::getAllNodes(), mrpt::graphs::CDirectedGraph< CPOSE, mrpt::graphs::detail::edge_annotations_empty >::getEdge(), mrpt::graphs::CDirectedGraph< CPOSE, mrpt::graphs::detail::edge_annotations_empty >::getEdges(), mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::getEdgeSquareError(), mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::getGlobalSquareError(), mrpt::graphs::CDirectedGraph< CPOSE, mrpt::graphs::detail::edge_annotations_empty >::getNeighborsOf(), mrpt::graphs::CDirectedGraph< CPOSE, mrpt::graphs::detail::edge_annotations_empty >::insertEdge(), mrpt::graphs::CDirectedGraph< CPOSE, mrpt::graphs::detail::edge_annotations_empty >::insertEdgeAtEnd(), mrpt::graphs::CDirectedGraph< CPOSE, mrpt::graphs::detail::edge_annotations_empty >::rbegin(), and mrpt::graphs::CDirectedGraph< CPOSE, mrpt::graphs::detail::edge_annotations_empty >::rend().