topological_map.h

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#ifndef TOPOLOGICAL_MAP_2D_TOPOLOGICAL_MAP_H
#define TOPOLOGICAL_MAP_2D_TOPOLOGICAL_MAP_H

#include <topological_nav_msgs/TopologicalMapNode.h>
#include <topological_nav_msgs/TopologicalMapEdge.h>
#include <map>

#define BOOST_NO_HASH
#include <boost/graph/adjacency_list.hpp>
#include <boost/graph/graph_traits.hpp>

namespace topological_map_2d
{

namespace msg=topological_nav_msgs;

typedef boost::adjacency_list<boost::listS, boost::listS, boost::undirectedS,
                              msg::TopologicalMapNode,
                              msg::TopologicalMapEdge> Graph;
typedef boost::graph_traits<Graph>::edge_descriptor GraphEdge;
typedef boost::graph_traits<Graph>::vertex_descriptor GraphVertex;


class TopologicalMap : public Graph
{
public:

  typedef msg::TopologicalMapNode Node;
  typedef msg::TopologicalMapEdge Edge;

  TopologicalMap ();

  TopologicalMap (const TopologicalMap& g);

  TopologicalMap& operator= (const TopologicalMap& g);

  GraphVertex node (unsigned id) const;

  GraphEdge edge (unsigned id) const;

  Node& nodeInfo (unsigned id);

  Edge& edgeInfo (unsigned id);

  const Node& nodeInfo (unsigned id) const;

  const Edge& edgeInfo (unsigned id) const;

  GraphVertex addNode (const Node& info);

  GraphEdge addEdge (const Edge& info);

  void removeNode (unsigned id);
  
  void removeEdge (unsigned id);

private:

  void recomputeIndices ();

  std::map<unsigned, GraphVertex> vertex_map_;
  std::map<unsigned, GraphEdge> edge_map_;

};

std::string gridFrame (const unsigned g);

unsigned frameGrid (const std::string& frame);

} // namespace

#endif // include guard