topological_map_2d::TopologicalMap Class Reference

#include <topological_map.h>

List of all members.

Public Types
typedef msg::TopologicalMapEdge	Edge
typedef msg::TopologicalMapNode	Node
Public Member Functions
GraphEdge	addEdge (const Edge &info)
	Add an edge.
GraphVertex	addNode (const Node &info)
	Add a node.
GraphEdge	edge (unsigned id) const
	Get the edge descriptor for this id.
Edge &	edgeInfo (unsigned id)
	Convenience function to get edge info.
const Edge &	edgeInfo (unsigned id) const
	Convenience function to get edge info.
GraphVertex	node (unsigned id) const
	Get the node descriptor for this id.
Node &	nodeInfo (unsigned id)
	Convenience function to get node info.
const Node &	nodeInfo (unsigned id) const
	Convenience function to get node info.
TopologicalMap &	operator= (const TopologicalMap &g)
	Assignment operator.
void	removeEdge (unsigned id)
	Remove an edge.
void	removeNode (unsigned id)
	Remove a node.
	TopologicalMap ()
	Default constructor creates empty graph.
	TopologicalMap (const TopologicalMap &g)
	Copy constructor.
Private Member Functions
void	recomputeIndices ()
	Recompute the indices from the graph.
Private Attributes
std::map< unsigned, GraphEdge >	edge_map_
std::map< unsigned, GraphVertex >	vertex_map_

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Detailed Description

Basically a boost adjacency_list, together with additional indexes that map from unsigned integers to boost node and edge descriptors (which are void pointers, and therefore can't be used when serializing the message). Adding and removing nodes and edges should be done with the member functions below so the indexes are updated appropriately. For everything else, use the boost adjacency_list ops, though some of them are wrapped for convenience, such as node/edgeInfo.

Definition at line 70 of file topological_map.h.

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Member Typedef Documentation

typedef msg::TopologicalMapEdge topological_map_2d::TopologicalMap::Edge

Definition at line 75 of file topological_map.h.

typedef msg::TopologicalMapNode topological_map_2d::TopologicalMap::Node

Definition at line 74 of file topological_map.h.

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Constructor & Destructor Documentation

topological_map_2d::TopologicalMap::TopologicalMap

(

)

Default constructor creates empty graph.

Definition at line 81 of file topological_map.cpp.

topological_map_2d::TopologicalMap::TopologicalMap

(

const TopologicalMap &

g

)

Copy constructor.

Definition at line 85 of file topological_map.cpp.

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Member Function Documentation

GraphEdge topological_map_2d::TopologicalMap::addEdge

(

const Edge &

info

)

Add an edge.

Return values:

Descriptor

for the newly added edge

Exceptions:

DuplicateEdgeIdException
InvalidEdgeIdException	if info.id is 0
UnknownNodeIdException

Definition at line 164 of file topological_map.cpp.

GraphVertex topological_map_2d::TopologicalMap::addNode

(

const Node &

info

)

Add a node.

Return values:

Descriptor

for the newly added node

Exceptions:

DuplicateNodeIdException
InvalidNodeIdException	if info.id is 0

Definition at line 155 of file topological_map.cpp.

GraphEdge topological_map_2d::TopologicalMap::edge

(

unsigned

id

)

const

Get the edge descriptor for this id.

Exceptions:

UnknownEdgeIdException

Definition at line 122 of file topological_map.cpp.

TopologicalMap::Edge & topological_map_2d::TopologicalMap::edgeInfo

(

unsigned

id

)

Convenience function to get edge info.

Exceptions:

UnknownEdgeIdException

Definition at line 135 of file topological_map.cpp.

const TopologicalMap::Edge & topological_map_2d::TopologicalMap::edgeInfo

(

unsigned

id

)

const

Convenience function to get edge info.

Exceptions:

UnknownEdgeIdException

Definition at line 145 of file topological_map.cpp.

GraphVertex topological_map_2d::TopologicalMap::node

(

unsigned

id

)

const

Get the node descriptor for this id.

Exceptions:

UnknownNodeIdException

Definition at line 114 of file topological_map.cpp.

TopologicalMap::Node & topological_map_2d::TopologicalMap::nodeInfo

(

unsigned

id

)

Convenience function to get node info.

Exceptions:

UnknownNodeIdException

Definition at line 130 of file topological_map.cpp.

const TopologicalMap::Node & topological_map_2d::TopologicalMap::nodeInfo

(

unsigned

id

)

const

Convenience function to get node info.

Exceptions:

UnknownNodeIdException

Definition at line 140 of file topological_map.cpp.

TopologicalMap & topological_map_2d::TopologicalMap::operator=

(

const TopologicalMap &

g

)

Assignment operator.

Definition at line 91 of file topological_map.cpp.

void topological_map_2d::TopologicalMap::recomputeIndices

(

)

[private]

Recompute the indices from the graph.

Definition at line 98 of file topological_map.cpp.

void topological_map_2d::TopologicalMap::removeEdge

(

unsigned

id

)

Remove an edge.

Todo:

Not implemented

Exceptions:

UnknownEdgeIdException

void topological_map_2d::TopologicalMap::removeNode

(

unsigned

id

)

Remove a node.

Todo:

Not implemented

Exceptions:

UnknownNodeIdException

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Member Data Documentation

std::map<unsigned, GraphEdge> topological_map_2d::TopologicalMap::edge_map_ [private]

Definition at line 139 of file topological_map.h.

std::map<unsigned, GraphVertex> topological_map_2d::TopologicalMap::vertex_map_ [private]

Definition at line 138 of file topological_map.h.

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

• topological_map.h
• topological_map.cpp