topological_roadmap::Roadmap Class Reference

#include <roadmap.h>

List of all members.

Public Types
typedef msg::RoadmapEdge	EdgeInfo
typedef msg::RoadmapNode	NodeInfo
typedef std::set< unsigned >	Nodes
Public Member Functions
unsigned	addEdge (const EdgeInfo &info)
	Add an edge. If the id field of the info is 0, it is filled in by this function.
unsigned	addNode (const NodeInfo &info)
	Add a node. If the id of the info field is 0, it is filled in by this function.
void	deleteEdge (unsigned id)
	Delete an edge.
GraphEdge	edge (unsigned id) const
	Get edge descriptor for id.
const EdgeInfo &	edgeInfo (unsigned id) const
	Convenience function to get edge info.
Nodes	gridNodes (const unsigned g) const
GraphVertex	node (unsigned id) const
	Get node descriptor for id.
const NodeInfo &	nodeInfo (unsigned id) const
	Convenience function to get node info.
Roadmap &	operator= (const Roadmap &r)
	Assignment.
void	recomputeIndexes ()
	Recompute indexing info from the underlying graph.
	Roadmap (const Roadmap &r)
	Copy constructor.
	Roadmap ()
	Default constructor creates empty graph.
Private Attributes
std::map< unsigned, GraphEdge >	edge_map_
std::map< unsigned, Nodes >	grid_nodes_
unsigned	next_edge_id_
unsigned	next_node_id_
std::map< unsigned, GraphVertex >	vertex_map_

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Detailed Description

A topological roadmap is overlaid over a topological_map_2d::TopologicalMap and used for navigation. Each roadmap node is a navigation waypoint and refers to some specific position in one of the local grids of the topological map. Each edge represents a navigable path between two waypoints on the same grid. Apart from the grid wrt which it is defined, each waypoint may also be on other grids, and this is what allows navigating across grids.

The class inherits from boost::adjacency_list with some additional indexing information that allows nodes and edges to be referred to using integer ids rather than boost graph descriptors. To maintain this information, all modifying operations on the graph should use {add,remove}{Node,Edge} rather than boost::add_vertex, etc. For other ops use the boost::adjacency_list ops, though some are wrapped for convenience, e.g., node/edgeInfo.

Definition at line 73 of file roadmap.h.

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Member Typedef Documentation

typedef msg::RoadmapEdge topological_roadmap::Roadmap::EdgeInfo

Definition at line 78 of file roadmap.h.

typedef msg::RoadmapNode topological_roadmap::Roadmap::NodeInfo

Definition at line 77 of file roadmap.h.

typedef std::set<unsigned> topological_roadmap::Roadmap::Nodes

Definition at line 79 of file roadmap.h.

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Constructor & Destructor Documentation

topological_roadmap::Roadmap::Roadmap

(

)

Default constructor creates empty graph.

Definition at line 63 of file roadmap.cpp.

topological_roadmap::Roadmap::Roadmap

(

const Roadmap &

r

)

Copy constructor.

Definition at line 67 of file roadmap.cpp.

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Member Function Documentation

unsigned topological_roadmap::Roadmap::addEdge

(

const EdgeInfo &

info

)

Add an edge. If the id field of the info is 0, it is filled in by this function.

Return values:

Id

of newly added edge.

Exceptions:

	UnknownNodeIdException
	DuplicateEdgeIdException

Definition at line 160 of file roadmap.cpp.

unsigned topological_roadmap::Roadmap::addNode

(

const NodeInfo &

info

)

Add a node. If the id of the info field is 0, it is filled in by this function.

Return values:

Id

of newly added node.

Definition at line 141 of file roadmap.cpp.

void topological_roadmap::Roadmap::deleteEdge

(

unsigned

id

)

Delete an edge.

Postcondition:

There's no edge with id id in graph

Exceptions:

UnknownEdgeIdException

Definition at line 181 of file roadmap.cpp.

GraphEdge topological_roadmap::Roadmap::edge

(

unsigned

id

)

const

Get edge descriptor for id.

Exceptions:

UnknownEdgeIdException

Definition at line 111 of file roadmap.cpp.

const Roadmap::EdgeInfo & topological_roadmap::Roadmap::edgeInfo

(

unsigned

id

)

const

Convenience function to get edge info.

Exceptions:

UnknownEdgeIdException

Definition at line 124 of file roadmap.cpp.

Roadmap::Nodes topological_roadmap::Roadmap::gridNodes

(

const unsigned

g

)

const

Return values:

Set

of nodes defined wrt this grid. If this grid has never been mentioned by any node, will just return the empty set.

Definition at line 129 of file roadmap.cpp.

GraphVertex topological_roadmap::Roadmap::node

(

unsigned

id

)

const

Get node descriptor for id.

Exceptions:

UnknownNodeIdException

Definition at line 103 of file roadmap.cpp.

const Roadmap::NodeInfo & topological_roadmap::Roadmap::nodeInfo

(

unsigned

id

)

const

Convenience function to get node info.

Exceptions:

UnknownNodeIdException

Definition at line 119 of file roadmap.cpp.

Roadmap & topological_roadmap::Roadmap::operator=

(

const Roadmap &

r

)

Assignment.

Definition at line 73 of file roadmap.cpp.

void topological_roadmap::Roadmap::recomputeIndexes

(

)

Recompute indexing info from the underlying graph.

Definition at line 82 of file roadmap.cpp.

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Member Data Documentation

std::map<unsigned, GraphEdge> topological_roadmap::Roadmap::edge_map_ [private]

Definition at line 134 of file roadmap.h.

std::map<unsigned, Nodes> topological_roadmap::Roadmap::grid_nodes_ [private]

Definition at line 135 of file roadmap.h.

unsigned topological_roadmap::Roadmap::next_edge_id_ [private]

Definition at line 141 of file roadmap.h.

unsigned topological_roadmap::Roadmap::next_node_id_ [private]

Definition at line 138 of file roadmap.h.

std::map<unsigned, GraphVertex> topological_roadmap::Roadmap::vertex_map_ [private]

Definition at line 133 of file roadmap.h.

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The documentation for this class was generated from the following files:

• roadmap.h
• roadmap.cpp