Program Listing for File AdjacencyList.h

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/* Author: Ryan Luna */

#ifndef ADJACENCY_LIST_
#define ADJACENCY_LIST_

#include <vector>
#include <boost/thread/mutex.hpp>

namespace ompl
{
    // An undirected graph containing vertices and weighted edges
    // Edges are stored using an adjacency list.
    // Only one edge per vertex pair is allowed.
    class AdjacencyList
    {
    public:
        AdjacencyList();

        // Initialize the graph with n vertices and no edges
        AdjacencyList(int n);

        ~AdjacencyList();

        // Remove all vertices and edges
        void clear();

        // Add a new vertex to the graph.  The id of the vertex is returned
        // Note: Vertex removal is not supported to simplify the implementation,
        //       provide stability of vertex descriptors, and for performance reasons
        int addVertex();
        // Return the number of vertices in the graph
        int numVertices() const;
        // Return true if a vertex with the given id exists
        bool vertexExists(int v) const;

        // Return true if v1 and v2 are connected in the graph (in the same connected component)
        // NOTE: THIS FUNCTION MAY NOT BE CORRECT IF EDGES ARE EVER REMOVED FROM THE GRAPH
        bool inSameComponent(int v1, int v2) const;
        // Return the number of connected components in the graph
        // NOTE: THIS FUNCTION MAY NOT BE CORRECT IF EDGES ARE EVER REMOVED FROM THE GRAPH
        int numConnectedComponents() const;
        // Return the connected component set the vertex belongs to
        int getComponentID(int vtx) const;

        // Add an edge between v1 and v2 in the graph with the (optional) weight
        // If the edge already exists, false is returned
        bool addEdge(int v1, int v2, double weight = 1.0);
        // Remove the edge between v1 and v2.  False is returned if the edge does not exist
        // NOTE: USING THIS FUNCTION TRASHES CONNECTED COMPONENT CAPABILITIES
        bool removeEdge(int v1, int v2);
        // Return the number of edges in the graph
        int numEdges() const;
        // Returns the weight of the edge between vertices v1 and v2.  An exception is thrown when the edge does not
        // exist
        double getEdgeWeight(int v1, int v2) const;
        // Update the edge weight between v1 and v2
        bool setEdgeWeight(int v1, int v2, double weight);
        // Returns true if an edge exists between vertices v1 and v2
        bool edgeExists(int v1, int v2) const;

        // Returns number of adjacent vertices for the given vertex
        int numNeighbors(int vtx) const;
        // Returns the adjacent vertices of the given vertex
        void getNeighbors(int vtx, std::vector<int> &nbrs) const;
        // Return the adjacent vertices of the given vertex and the weights associated with each edge
        void getNeighbors(int vtx, std::vector<std::pair<int, double>> &nbrs) const;

        // Dijkstra's shortest path search from v1 to v2.  If a path exists, the solution is stored in path and true is
        // returned.
        bool dijkstra(int v1, int v2, std::vector<int> &path) const;

        // Dijkstra's shortest path search starting from v1.  The predecessors of each node are stored in predecessors.
        // If the predecessor of a node is itself, it is not reachable from vtx (or is equal to vtx).
        // The total distance from vtx to each node is stored in distance.  A value of double::max() indicates an
        // unreachable node.
        void dijkstra(int vtx, std::vector<int> &predecessors, std::vector<double> &distance) const;

    protected:
        // Mutex, for thread safety
        mutable boost::mutex lock_;

        // Obscured to prevent unnecessary inclusion of BGL throughout the rest of the code.
        void *graphRaw_;

        // Obscured to prevent unnecessary inclusion of BGL throughout the rest of the code.
        void *disjointSetsRaw_;
    };
}  // namespace ompl

#endif