graph.h
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00001 // HOG-Man - Hierarchical Optimization for Pose Graphs on Manifolds
00002 // Copyright (C) 2010 G. Grisetti, R. K├╝mmerle, C. Stachniss
00003 // 
00004 // HOG-Man is free software: you can redistribute it and/or modify
00005 // it under the terms of the GNU Lesser General Public License as published
00006 // by the Free Software Foundation, either version 3 of the License, or
00007 // (at your option) any later version.
00008 // 
00009 // HOG-Man is distributed in the hope that it will be useful,
00010 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00011 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00012 // GNU Lesser General Public License for more details.
00013 // 
00014 // You should have received a copy of the GNU Lesser General Public License
00015 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00016 
00017 #ifndef _AIS_GRAPH_HH
00018 #define _AIS_GRAPH_HH
00019 
00020 #include <map>
00021 #include <set>
00022 #include <vector>
00023 #include <limits>
00024 
00027 namespace AISNavigation{
00028 
00029   
00030   struct Graph{
00031     friend class Dijkstra;
00032 
00033     struct Vertex;
00034     struct Edge;
00035 
00036     struct VertexIDCompare {
00037       bool operator() (const Vertex* v1, const Vertex* v2) const
00038       {
00039         return v1->id()<v2->id();
00040       }
00041     };
00042     
00043     typedef std::set<Edge*> EdgeSet;
00044     typedef std::map<int, Vertex*> VertexIDMap;
00045     typedef std::set<Vertex*> VertexSet;
00046  
00047     struct Vertex{
00048       friend class Dijkstra;
00049       friend struct Graph;
00050       friend struct _DijkstraCompare;
00051       virtual ~Vertex();
00052       inline int id() const {return _id;}
00053       inline const EdgeSet& edges() const {return _edges;}
00054       inline EdgeSet& edges() {return _edges;}
00055 
00056       mutable bool _mark;
00057     protected:
00058       Vertex(int id=-1);
00059       int _id;
00060       EdgeSet _edges;
00061     };
00062 
00063 
00064     struct Edge{
00065       friend struct Graph;
00066       virtual ~Edge();
00067       virtual bool revert();
00068       inline const Vertex* from() const {return _from;}
00069       inline Vertex* from() {return _from;}
00070       inline const Vertex* to() const {return _to;}
00071       inline Vertex* to() {return _to;}
00072 
00073       mutable bool _mark;
00074     protected:
00075       Edge(Vertex* from=0, Vertex* to=0);
00076       Vertex* _from;
00077       Vertex* _to;
00078     };
00079 
00080 
00081     Vertex* vertex(int id);
00082     const Vertex* vertex(int id) const;
00083     EdgeSet connectingEdges(const Vertex* v1, const Vertex* v2);
00084     
00085     
00086     virtual bool removeVertex(Vertex* v);
00087     virtual bool removeEdge(Edge* e);
00088     Graph();
00089     virtual ~Graph();
00090     virtual void clear();
00091     
00092     inline const VertexIDMap& vertices() const {return _vertices;}
00093     inline VertexIDMap& vertices() {return _vertices;}
00094     inline const EdgeSet& edges() const {return _edges;}
00095     inline EdgeSet& edges() {return _edges;}
00096 
00097 protected:
00098     Vertex* addVertex(Vertex* v);
00099     Edge* addEdge(Edge* e);
00100 
00101     VertexIDMap _vertices;
00102     EdgeSet _edges;
00103   };
00104 };
00105 
00107 
00108 #endif


hogman_minimal
Author(s): Maintained by Juergen Sturm
autogenerated on Mon Oct 6 2014 00:06:58