hyper_graph.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// 
// g2o is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published
// by the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
// 
// g2o is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
// 
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.

#ifndef _AIS_HYPER_GRAPH_HH
#define _AIS_HYPER_GRAPH_HH

#include <map>
#include <set>
#include <cassert>
#include <vector>
#include <limits>
#include <cstddef>

#ifdef _MSC_VER
#include <unordered_map>
#else
#include <tr1/unordered_map>
#endif

namespace g2o {

  class HyperGraph
  {
    public:
      class Vertex;
      class Edge;
      
      struct HyperGraphElement {
        virtual ~HyperGraphElement() {}
      };

      typedef std::set<Edge*>                           EdgeSet;
      typedef std::set<Vertex*>                         VertexSet;

      typedef std::tr1::unordered_map<int, Vertex*>     VertexIDMap;
      typedef std::vector<Vertex*>                      VertexVector;

      class Vertex : public HyperGraphElement {
        public:
          explicit Vertex(int id=-1);
          virtual ~Vertex();
          int id() const {return _id;}
          const EdgeSet& edges() const {return _edges;}
          EdgeSet& edges() {return _edges;}
        protected:
          int _id;
          EdgeSet _edges;
      };

      class Edge : public HyperGraphElement {
        public:
          explicit Edge(int id = -1);
          virtual ~Edge();

          virtual void resize(size_t size);
          const VertexVector& vertices() const { return _vertices;}
          VertexVector& vertices() { return _vertices;}

          int id() const {return _id;}
          void setId(int id);
        protected:
          VertexVector _vertices;
          int _id; // unique id
      };

    public:
      HyperGraph();
      virtual ~HyperGraph();

      Vertex* vertex(int id);
      const Vertex* vertex(int id) const;

      virtual bool removeVertex(Vertex* v);
      virtual bool removeEdge(Edge* e);
      virtual void clear();

      const VertexIDMap& vertices() const {return _vertices;}
      VertexIDMap& vertices() {return _vertices;}

      const EdgeSet& edges() const {return _edges;}
      EdgeSet& edges() {return _edges;}

      Vertex* addVertex(Vertex* v);

      Edge* addEdge(Edge* e);

    protected:
      VertexIDMap _vertices;
      EdgeSet _edges;
  };

} // end namespace


#endif