g2o::HyperGraph Class Reference

#include <hyper_graph.h>

Inheritance diagram for g2o::HyperGraph:

Classes
class	Edge
struct	HyperGraphElement
class	Vertex
	abstract Vertex, your types must derive from that one More...

Public Types
typedef std::set< Edge * >	EdgeSet
typedef std::bitset< HyperGraph::HGET_NUM_ELEMS >	GraphElemBitset
enum	HyperGraphElementType {   HGET_VERTEX, HGET_EDGE, HGET_PARAMETER, HGET_CACHE,   HGET_DATA, HGET_NUM_ELEMS }
	enum of all the types we have in our graphs More...
typedef std::vector< Vertex * >	VertexContainer
typedef std::tr1::unordered_map< int, Vertex * >	VertexIDMap
typedef std::set< Vertex * >	VertexSet

Public Member Functions
virtual bool	addEdge (Edge *e)
virtual bool	addVertex (Vertex *v)
virtual bool	changeId (Vertex *v, int newId)
virtual void	clear ()
	clears the graph and empties all structures. More...
const EdgeSet &	edges () const
EdgeSet &	edges ()
	HyperGraph ()
	constructs an empty hyper graph More...
virtual bool	removeEdge (Edge *e)
	removes a vertex from the graph. Returns true on success (edge was present) More...
virtual bool	removeVertex (Vertex *v)
	removes a vertex from the graph. Returns true on success (vertex was present) More...
Vertex *	vertex (int id)
	returns a vertex id in the hyper-graph, or 0 if the vertex id is not present More...
const Vertex *	vertex (int id) const
	returns a vertex id in the hyper-graph, or 0 if the vertex id is not present More...
const VertexIDMap &	vertices () const
VertexIDMap &	vertices ()
virtual	~HyperGraph ()
	destroys the hyper-graph and all the vertices of the graph More...

Protected Attributes
EdgeSet	_edges
VertexIDMap	_vertices

Private Member Functions
	HyperGraph (const HyperGraph &)
HyperGraph &	operator= (const HyperGraph &)

Detailed Description

Class that models a directed Hyper-Graph. An hyper graph is a graph where an edge can connect one or more nodes. Both Vertices and Edges of an hyoper graph derive from the same class HyperGraphElement, thus one can implement generic algorithms that operate transparently on edges or vertices (see HyperGraphAction).

The vertices are uniquely identified by an int id, while the edges are identfied by their pointers.

Definition at line 58 of file hyper_graph.h.

Member Typedef Documentation

typedef std::set<Edge*> g2o::HyperGraph::EdgeSet

Definition at line 90 of file hyper_graph.h.

typedef std::bitset<HyperGraph::HGET_NUM_ELEMS> g2o::HyperGraph::GraphElemBitset

Definition at line 74 of file hyper_graph.h.

typedef std::vector<Vertex*> g2o::HyperGraph::VertexContainer

Definition at line 94 of file hyper_graph.h.

typedef std::tr1::unordered_map<int, Vertex*> g2o::HyperGraph::VertexIDMap

Definition at line 93 of file hyper_graph.h.

typedef std::set<Vertex*> g2o::HyperGraph::VertexSet

Definition at line 91 of file hyper_graph.h.

Member Enumeration Documentation

enum g2o::HyperGraph::HyperGraphElementType

enum of all the types we have in our graphs

Enumerator
HGET_VERTEX
HGET_EDGE
HGET_PARAMETER
HGET_CACHE
HGET_DATA
HGET_NUM_ELEMS

Definition at line 65 of file hyper_graph.h.

Constructor & Destructor Documentation

g2o::HyperGraph::HyperGraph

(

)

constructs an empty hyper graph

Definition at line 147 of file hyper_graph.cpp.

g2o::HyperGraph::~HyperGraph ( )

virtual

destroys the hyper-graph and all the vertices of the graph

Definition at line 161 of file hyper_graph.cpp.

g2o::HyperGraph::HyperGraph ( const HyperGraph &  )

inlineprivate

Definition at line 212 of file hyper_graph.h.

Member Function Documentation

bool g2o::HyperGraph::addEdge ( Edge *  e )

virtual

Adds an edge to the graph. If the edge is already in the graph, it does nothing and returns false. Otherwise it returns true.

Reimplemented in g2o::OptimizableGraph.

Definition at line 99 of file hyper_graph.cpp.

bool g2o::HyperGraph::addVertex ( Vertex *  v )

virtual

adds a vertex to the graph. The id of the vertex should be set before invoking this function. the function fails if another vertex with the same id is already in the graph. returns true, on success, or false on failure.

Reimplemented in g2o::OptimizableGraph.

Definition at line 76 of file hyper_graph.cpp.

bool g2o::HyperGraph::changeId ( Vertex *  v, int  newId  )

virtual

changes the id of a vertex already in the graph, and updates the bookkeeping @ returns false if the vertex is not in the graph;

Definition at line 89 of file hyper_graph.cpp.

void g2o::HyperGraph::clear ( )

virtual

clears the graph and empties all structures.

Reimplemented in g2o::SparseOptimizer.

Definition at line 151 of file hyper_graph.cpp.

const EdgeSet& g2o::HyperGraph::edges ( ) const

inline

Returns

the set of edges of the hyper graph

Definition at line 182 of file hyper_graph.h.

EdgeSet& g2o::HyperGraph::edges ( )

inline

Returns

the set of edges of the hyper graph

Definition at line 184 of file hyper_graph.h.

HyperGraph& g2o::HyperGraph::operator= ( const HyperGraph &  )

inlineprivate

Definition at line 213 of file hyper_graph.h.

bool g2o::HyperGraph::removeEdge ( Edge *  e )

virtual

removes a vertex from the graph. Returns true on success (edge was present)

Definition at line 129 of file hyper_graph.cpp.

bool g2o::HyperGraph::removeVertex ( Vertex *  v )

virtual

removes a vertex from the graph. Returns true on success (vertex was present)

Reimplemented in g2o::SparseOptimizer.

Definition at line 111 of file hyper_graph.cpp.

HyperGraph::Vertex * g2o::HyperGraph::vertex

(

int

id

)

returns a vertex id in the hyper-graph, or 0 if the vertex id is not present

Definition at line 60 of file hyper_graph.cpp.

const HyperGraph::Vertex * g2o::HyperGraph::vertex

(

int

id

)

const

returns a vertex id in the hyper-graph, or 0 if the vertex id is not present

Definition at line 68 of file hyper_graph.cpp.

const VertexIDMap& g2o::HyperGraph::vertices ( ) const

inline

Returns

the map id -> vertex where the vertices are stored

Definition at line 177 of file hyper_graph.h.

VertexIDMap& g2o::HyperGraph::vertices ( )

inline

Returns

the map id -> vertex where the vertices are stored

Definition at line 179 of file hyper_graph.h.

Member Data Documentation

EdgeSet g2o::HyperGraph::_edges

protected

Definition at line 208 of file hyper_graph.h.

VertexIDMap g2o::HyperGraph::_vertices

protected

Definition at line 207 of file hyper_graph.h.

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

• hyper_graph.h
• hyper_graph.cpp