GenericStateGraph.h File Reference

#include "MPProblem/Environment/Environment.h"
#include "Utilities/PMPLExceptions.h"
#include "Utilities/RuntimeUtils.h"
#include <containers/sequential/graph/graph.h>
#include <containers/sequential/graph/graph_util.h>
#include <containers/sequential/graph/vertex_iterator_adaptor.h>
#include <containers/sequential/graph/algorithms/connected_components.h>
#include <containers/sequential/graph/algorithms/graph_input_output.h>
#include "Utilities/CCTracker.h"
#include <fstream>
#include <functional>
#include <iostream>
#include <string>
#include <unordered_map>
#include <unordered_set>
#include <vector>

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Data Structures
class	GenericStateGraph< Vertex, Edge >

Macros
#define	INVALID_VID   (std::numeric_limits<size_t>::max())
#define	INVALID_EID   (std::numeric_limits<size_t>::max())

Functions
template<typename GenericStateGraph >
void	Read (GenericStateGraph *_g, const std::string &_filename)
template<typename GenericStateGraph >
void	ReadMessage (GenericStateGraph *_g, const std::string &_msg)
std::unordered_set< size_t >	VertexSetIntersection (const std::unordered_set< size_t > &_a, const std::unordered_set< size_t > &_b)
bool	HaveCommonVertex (const std::unordered_set< size_t > &_a, const std::unordered_set< size_t > &_b)
std::unordered_set< size_t > &	VertexSetUnionInPlace (std::unordered_set< size_t > &_receiver, const std::unordered_set< size_t > &_source)
template<typename T , typename... Rest>
const T &	RandomElement (const std::unordered_set< T, Rest... > &_set) noexcept

Macro Definition Documentation

INVALID_EID

#define INVALID_EID   (std::numeric_limits<size_t>::max())

INVALID_VID

#define INVALID_VID   (std::numeric_limits<size_t>::max())

Function Documentation

HaveCommonVertex()

bool HaveCommonVertex ( const std::unordered_set< size_t > &  _a, const std::unordered_set< size_t > &  _b  )

inline

Check if two vertex sets have any members in common.

Parameters

_a	The first set.
_b	The second set.

Returns

True if there are any vertices in both _a and _b.

RandomElement()

template<typename T , typename... Rest>

const T& RandomElement ( const std::unordered_set< T, Rest... > &  _set )

inlinenoexcept

Select a random element from a vertex set (or other unordered set).

Parameters

_set

The set.

Returns

A random element from within.

Note

This is a two-stage random process that is far more efficient than simply std::advancing the begin iterator, which costs linear time. The solution here is to randomly select a bucket and then choose a random element within. This is linear in the bucket size (much smaller than the whole container).

Read()

template<typename GenericStateGraph >

void Read	(	GenericStateGraph *	_g,
		const std::string &	_filename
	)

Read in a roadmap (.map) file.

Parameters

_g	The graph to populate from the map file.
_filename	The name of the map file to read.

Note

This is a non-member to avoid problems with explicit instantiation of this function for robot groups. It should be returned to a member function when we have an elegant means for implementing group roadmap input.

@TODO this is a bad way to handle the fact that it's necessary to know the robot type (non/holonomic) when reading and writing.

ReadMessage()

template<typename GenericStateGraph >

void ReadMessage	(	GenericStateGraph *	_g,
		const std::string &	_msg
	)

Read in a message.

Parameters

_g	The graph to populate from the message.
_msg	The message containing the graph.

Note

This is a non-member to avoid problems with explicit instantiation of this function for robot groups. It should be returned to a member function when we have an elegant means for implementing group roadmap input.

@TODO this is a bad way to handle the fact that it's necessary to know the robot type (non/holonomic) when reading and writing.

VertexSetIntersection()

std::unordered_set<size_t> VertexSetIntersection ( const std::unordered_set< size_t > &  _a, const std::unordered_set< size_t > &  _b  )

inline

Find the intersection of two vertex sets.

Parameters

_a	The first set.
_b	The second set.

Returns

The intersection of _a and _b.

VertexSetUnionInPlace()

std::unordered_set<size_t>& VertexSetUnionInPlace ( std::unordered_set< size_t > &  _receiver, const std::unordered_set< size_t > &  _source  )

inline

Merge one vertex set into another.

Parameters

_receiver	The vertex set receiving new VIDs.
_source	The source of the new VIDs.

Returns

A reference to _receiver.