#include <CompositeGraph.h>

Inheritance diagram for CompositeGraph< Vertex, Edge >:

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Collaboration diagram for CompositeGraph< Vertex, Edge >:

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Public Types
Local Types
typedef GenericStateGraph< Vertex, Edge >	BaseType

typedef CompositeGraph< Vertex, Edge >	CompositeGraphType

typedef Vertex::IndividualGraph	IndividualGraph

typedef BaseType::EID	ED

typedef IndividualGraph::EdgeType	IndividualEdge

typedef BaseType::adj_edge_iterator	adj_edge_iterator

typedef BaseType::edge_descriptor	edge_descriptor

typedef BaseType::vertex_iterator	vertex_iterator

typedef BaseType::vertex_descriptor	vertex_descriptor

typedef STAPLGraph::const_vertex_iterator	CVI

typedef STAPLGraph::vertex_iterator	VI

typedef STAPLGraph::adj_edge_iterator	EI

typedef STAPLGraph::vertex_descriptor	VID

using	STAPLGraph = stapl::sequential::graph< stapl::DIRECTED, stapl::NONMULTIEDGES, Vertex, Edge >

typedef std::function< void(VI)>	VertexHook

typedef std::function< void(EI)>	EdgeHook

enum class	HookType

Public Types inherited from GenericStateGraph< Vertex, Edge >
enum class	HookType { AddVertex , DeleteVertex , AddEdge , DeleteEdge }

using	STAPLGraph = stapl::sequential::graph< stapl::DIRECTED, stapl::NONMULTIEDGES, Vertex, Edge >

typedef STAPLGraph::vertex_descriptor	VID

typedef STAPLGraph::edge_descriptor	EID

typedef EID::edge_id_type	EdgeID

typedef std::unordered_set< VID >	VertexSet

typedef STAPLGraph::vertex_iterator	VI

typedef STAPLGraph::adj_edge_iterator	EI

typedef STAPLGraph::const_vertex_iterator	CVI

typedef STAPLGraph::const_adj_edge_iterator	CEI

typedef STAPLGraph::vertex_property	VP

typedef STAPLGraph::edge_property	EP

typedef Vertex	CfgType

typedef Edge	EdgeType

typedef stapl::sequential::vector_property_map< STAPLGraph, size_t >	ColorMap

typedef std::function< void(VI)>	VertexHook

typedef std::function< void(EI)>	EdgeHook

typedef CCTracker< GenericStateGraph< Vertex, Edge > >	CCTrackerType

Public Member Functions
Construction
	CompositeGraph (RobotGroup const _g=nullptr, std::vector< IndividualGraph > _graphs={})
	Construct a composite graph. More...

Disabled Functions
Move and copy are disabled because the composite states and edges need to know their group graph pointer. To implement these, we'll need to update the pointer on every component.
	CompositeGraph (const CompositeGraph &)=delete

	CompositeGraph (CompositeGraph &&)=delete

CompositeGraph &	operator= (const CompositeGraph &)=delete

CompositeGraph &	operator= (CompositeGraph &&)=delete

Accessors
virtual RobotGroup *	GetGroup ()
	Get the robot group. More...

virtual IndividualGraph *	GetIndividualGraph (const size_t _index)

virtual const IndividualGraph *	GetIndividualGraph (const size_t _index) const

virtual size_t	GetNumRobots () const noexcept
	Get the number of robots for the group this graph is for. More...

Input/Output
virtual void	Write (const std::string &_filename, Environment *_env) const override

virtual void	WriteCompositeGraph (const std::string &_filename, Environment *const _env) const

std::string	PrettyPrint () const

Modifiers
virtual VID	AddVertex (const Vertex &_v) noexcept override

virtual void	DeleteVertex (const VID _v) noexcept override

virtual ED	AddEdge (const VID _source, const VID _target, const Edge &_w) noexcept override

virtual void	DeleteEdge (const VID _source, const VID _target) noexcept override

virtual void	DeleteEdge (EI _iterator) noexcept override

virtual EID	AddEdge (const VID _source, const VID _target, const Edge &_w) noexcept

virtual std::pair< EID, EID >	AddEdge (const VID _source, const VID _target, const std::pair< Edge, Edge > &_w) noexcept

virtual EID	AddEdge (const EID _eid, const Edge &_w) noexcept

virtual EID	AddEdge (const VID _source, const VID _target) noexcept

Hooks
virtual void	ClearHooks () noexcept override

Public Member Functions inherited from GenericStateGraph< Vertex, Edge >
	GenericStateGraph ()

	GenericStateGraph (Robot *const _r)

	GenericStateGraph (const GenericStateGraph &_r)

	GenericStateGraph (GenericStateGraph &&_r)

GenericStateGraph &	operator= (const GenericStateGraph &_r)

GenericStateGraph &	operator= (GenericStateGraph &&_r)

bool	operator== (const GenericStateGraph &_r) const noexcept

bool	operator!= (const GenericStateGraph &_r) const noexcept

virtual VID	AddVertex (const VID _vid, const Vertex &_v) noexcept

virtual VID	AddDuplicateVertex (const Vertex &_v) noexcept

virtual std::pair< EID, EID >	AddEdge (const VID _source, const VID _target, const std::pair< Edge, Edge > &_w) noexcept

virtual EID	AddEdge (const EID _eid, const Edge &_w) noexcept

virtual EID	AddEdge (const VID _source, const VID _target) noexcept

void	SetRobot (Robot *const _r) noexcept
	Set the robot pointer on all configurations in the map. More...

void	AppendRoadmap (const GenericStateGraph &_r)

void	SetCCTracker (StatClass *const _stats=nullptr)

size_t	Size () const noexcept
	Get the number of vertices in the roadmap. More...

bool	IsVertex (const VID _vid) const noexcept

bool	IsVertex (const Vertex &_v) const noexcept

bool	IsVertex (const Vertex &_v, CVI &_vi) const noexcept

bool	IsEdge (const VID _source, const VID _target) const noexcept

template<typename T >
VID	GetVID (const T &_t) const noexcept

VID	GetVID (const VI &_t) const noexcept

VID	GetVID (const Vertex &_t) const noexcept

const VertexSet &	GetPredecessors (const VID _vid) const noexcept

VID	GetLastVID () const noexcept
	Get the descriptor of the last vertex added to the graph. More...

size_t	GetTimestamp () const noexcept
	Each time the roadmap is modified, we update the timestamp. More...

const VertexSet &	GetAllVIDs () const noexcept
	Get the set of all VIDs in the roadmap. More...

Robot *	GetRobot () const noexcept
	Get the robot represented by this roadmap. More...

CCTrackerType *	GetCCTracker () const noexcept
	Get the connected component tracker. More...

template<typename T >
VP &	GetVertex (T &_t) noexcept
	Retrieve a reference to a vertex property by descriptor or iterator. More...

VP &	GetVertex (VI &_t) noexcept

VP &	GetVertex (VID _t) noexcept

template<typename T >
const VP &	GetVertex (T &_t) const noexcept

const VP &	GetVertex (CVI &_t) const noexcept

const VP &	GetVertex (VID _t) const noexcept

std::vector< VID >	GetChildren (const VID _vid) const noexcept

size_t	GetInDegree (const VID _vid) noexcept

std::vector< EI >	FindInboundEdges (const VID _vid)

bool	GetEdge (const VID _source, const VID _target, EI &_ei) noexcept

bool	GetEdge (const VID _source, const VID _target, CEI &_ei) const noexcept

EP &	GetEdge (const VID _source, const VID _target) noexcept

EP &	GetEdge (const EID _descriptor) noexcept

bool	IsHook (const HookType, const std::string &_label) const

void	InstallHook (const HookType _type, const std::string &_label, const VertexHook &_h)

void	InstallHook (const HookType _type, const std::string &_label, const EdgeHook &_h)

void	RemoveHook (const HookType _type, const std::string &_label)

void	DisableHooks () noexcept

void	EnableHooks () noexcept
	Enable the hook functions (default). More...

Protected Attributes
Internal State
RobotGroup *const	m_group
	The robot group. More...

std::vector< IndividualGraph * >	m_graphs
	The individual graphs. More...

size_t	m_timestamp
	Tracks the number of changes to the graph. More...

Protected Attributes inherited from GenericStateGraph< Vertex, Edge >
Robot *	m_robot {nullptr}
	The robot this roadmap is for. More...

size_t	m_timestamp {0}
	Tracks the number of changes to the graph. More...

bool	m_enableHooks {true}
	Use hook functions? More...

std::unordered_map< std::string, VertexHook >	m_addVertexHooks
	Hook functions to call when adding a vertex. More...

std::unordered_map< std::string, VertexHook >	m_deleteVertexHooks
	Hook functions to call when deleting a vertex. More...

std::unordered_map< std::string, EdgeHook >	m_addEdgeHooks
	Hook functions to call when adding an edge. More...

std::unordered_map< std::string, EdgeHook >	m_deleteEdgeHooks
	Hook functions to call when deleting an edge. More...

std::unique_ptr< CCTrackerType >	m_ccTracker
	Tracks weak CCs within the roadmap. More...

std::unordered_map< VID, VertexSet >	m_predecessors

VertexSet	m_allVIDs

Additional Inherited Members
Protected Member Functions inherited from GenericStateGraph< Vertex, Edge >
void	ExecuteAddVertexHooks (const VI _iterator) noexcept

void	ExecuteDeleteVertexHooks (const VI _iterator) noexcept

void	ExecuteAddEdgeHooks (const EI _iterator) noexcept

void	ExecuteDeleteEdgeHooks (const EI _iterator) noexcept

std::string	ToString (const HookType &_t) const noexcept

Detailed Description

template<typename Vertex, typename Edge>
class CompositeGraph< Vertex, Edge >

Represents a composite graph for a robot group.

Rather than duplicating the data for each robot, this object refers to an individual graph for each robot. This object however does not own the individual graphs - it merely points to them.

Note that VIDs in this object refer to composite state VIDs.

Member Typedef Documentation

◆ adj_edge_iterator

template<typename Vertex , typename Edge >

typedef BaseType::adj_edge_iterator CompositeGraph< Vertex, Edge >::adj_edge_iterator

◆ BaseType

template<typename Vertex , typename Edge >

typedef GenericStateGraph<Vertex, Edge> CompositeGraph< Vertex, Edge >::BaseType

◆ CompositeGraphType

template<typename Vertex , typename Edge >

typedef CompositeGraph<Vertex, Edge> CompositeGraph< Vertex, Edge >::CompositeGraphType

◆ CVI

template<typename Vertex , typename Edge >

typedef STAPLGraph::const_vertex_iterator GenericStateGraph< Vertex, Edge >::CVI

◆ ED

template<typename Vertex , typename Edge >

typedef BaseType::EID CompositeGraph< Vertex, Edge >::ED

◆ edge_descriptor

template<typename Vertex , typename Edge >

typedef BaseType::edge_descriptor CompositeGraph< Vertex, Edge >::edge_descriptor

◆ EdgeHook

template<typename Vertex , typename Edge >

typedef std::function<void(EI)> GenericStateGraph< Vertex, Edge >::EdgeHook

◆ EI

template<typename Vertex , typename Edge >

typedef STAPLGraph::adj_edge_iterator GenericStateGraph< Vertex, Edge >::EI

◆ IndividualEdge

template<typename Vertex , typename Edge >

typedef IndividualGraph::EdgeType CompositeGraph< Vertex, Edge >::IndividualEdge

◆ IndividualGraph

template<typename Vertex , typename Edge >

typedef Vertex::IndividualGraph CompositeGraph< Vertex, Edge >::IndividualGraph

◆ STAPLGraph

template<typename Vertex , typename Edge >

using GenericStateGraph< Vertex, Edge >::STAPLGraph = stapl::sequential::graph<stapl::DIRECTED, stapl::NONMULTIEDGES, Vertex, Edge>

◆ vertex_descriptor

template<typename Vertex , typename Edge >

typedef BaseType::vertex_descriptor CompositeGraph< Vertex, Edge >::vertex_descriptor

◆ vertex_iterator

template<typename Vertex , typename Edge >

typedef BaseType::vertex_iterator CompositeGraph< Vertex, Edge >::vertex_iterator

◆ VertexHook

template<typename Vertex , typename Edge >

typedef std::function<void(VI)> GenericStateGraph< Vertex, Edge >::VertexHook

◆ VI

template<typename Vertex , typename Edge >

typedef STAPLGraph::vertex_iterator GenericStateGraph< Vertex, Edge >::VI

◆ VID

template<typename Vertex , typename Edge >

typedef STAPLGraph::vertex_descriptor GenericStateGraph< Vertex, Edge >::VID

Member Enumeration Documentation

◆ HookType

template<typename Vertex , typename Edge >

enum GenericStateGraph::HookType

strong

Constructor & Destructor Documentation

◆ CompositeGraph() [1/3]

template<typename Vertex , typename Edge >

CompositeGraph< Vertex, Edge >::CompositeGraph	(	RobotGroup *const	_g = `nullptr`,
		std::vector< IndividualGraph * >	_graphs = `{}`
	)

Construct a composite graph.

◆ CompositeGraph() [2/3]

template<typename Vertex , typename Edge >

CompositeGraph< Vertex, Edge >::CompositeGraph ( const CompositeGraph< Vertex, Edge > & )

delete

◆ CompositeGraph() [3/3]

template<typename Vertex , typename Edge >

CompositeGraph< Vertex, Edge >::CompositeGraph ( CompositeGraph< Vertex, Edge > && )

delete

Member Function Documentation

◆ AddEdge() [1/5]

template<typename Vertex , typename Edge >

GenericStateGraph< Vertex, Edge >::EID GenericStateGraph< Vertex, Edge >::AddEdge

noexcept

Import the base-class version for this (required because we've overridden one of the overloads).

◆ AddEdge() [2/5]

template<typename Vertex , typename Edge >

GenericStateGraph< Vertex, Edge >::EID GenericStateGraph< Vertex, Edge >::AddEdge

noexcept

Import the base-class version for this (required because we've overridden one of the overloads).

◆ AddEdge() [3/5]

template<typename Vertex , typename Edge >

GenericStateGraph< Vertex, Edge >::EID GenericStateGraph< Vertex, Edge >::AddEdge

noexcept

Import the base-class version for this (required because we've overridden one of the overloads).

◆ AddEdge() [4/5]

template<typename Vertex , typename Edge >

CompositeGraph< Vertex, Edge >::ED CompositeGraph< Vertex, Edge >::AddEdge	(	const VID	_source,
		const VID	_target,
		const Edge &	_w
	)

overridevirtualnoexcept

Add an edge from source to target.

Parameters

_source	The source vertex.
_target	The target vertex.
_w	The edge property.

Reimplemented from GenericStateGraph< Vertex, Edge >.

Reimplemented in GroupRoadmap< Vertex, Edge >.

◆ AddEdge() [5/5]

template<typename Vertex , typename Edge >

std::pair< typename GenericStateGraph< Vertex, Edge >::EID, typename GenericStateGraph< Vertex, Edge >::EID > GenericStateGraph< Vertex, Edge >::AddEdge

noexcept

Import the base-class version for this (required because we've overridden one of the overloads).

◆ AddVertex()

template<typename Vertex , typename Edge >

CompositeGraph< Vertex, Edge >::VID CompositeGraph< Vertex, Edge >::AddVertex ( const Vertex & _v )

overridevirtualnoexcept

Add a new unique vertex to the graph. If it already exists, a warning will be printed to cerr.

Parameters

_v	The vertex to add.

Returns: A new VID of the added vertex, or the VID of the existing vertex.

Reimplemented from GenericStateGraph< Vertex, Edge >.

Reimplemented in GroupRoadmap< Vertex, Edge >.

◆ ClearHooks()

template<typename Vertex , typename Edge >

void CompositeGraph< Vertex, Edge >::ClearHooks

overridevirtualnoexcept

Uninstall all hooks from each individual graph. Should only be used at the end of a library run to clean the graph object.

Reimplemented from GenericStateGraph< Vertex, Edge >.

◆ DeleteEdge() [1/2]

template<typename Vertex , typename Edge >

void CompositeGraph< Vertex, Edge >::DeleteEdge	(	const VID	_source,
		const VID	_target
	)

overridevirtualnoexcept

Remove an edge from the graph if it exists.

Parameters

_source	The source vertex.
_source	The target vertex.

Reimplemented from GenericStateGraph< Vertex, Edge >.

◆ DeleteEdge() [2/2]

template<typename Vertex , typename Edge >

void CompositeGraph< Vertex, Edge >::DeleteEdge ( EI _iterator )

overridevirtualnoexcept

Remove an edge from the graph if it exists.

Parameters

_iterator An iterator to the edge.

Reimplemented from GenericStateGraph< Vertex, Edge >.

◆ DeleteVertex()

template<typename Vertex , typename Edge >

void CompositeGraph< Vertex, Edge >::DeleteVertex ( const VID _v )

overridevirtualnoexcept

Remove a vertex (and attached edges) from the graph if it exists.

Parameters

_v	The vertex descriptor.

@TODO This could be done faster with a directed preds graph, but I want to profile it both ways to be sure of the costs before doing that. We rarely delete vertices, so right now this is an edge case. If we start working with methods that delete a lot of vertices, we will likely need to switch to the directed preds graph.

Reimplemented from GenericStateGraph< Vertex, Edge >.

◆ GetGroup()

template<typename Vertex , typename Edge >

RobotGroup * CompositeGraph< Vertex, Edge >::GetGroup

inlinevirtual

Get the robot group.

◆ GetIndividualGraph() [1/2]

template<typename Vertex , typename Edge >

CompositeGraph< Vertex, Edge >::IndividualGraph * CompositeGraph< Vertex, Edge >::GetIndividualGraph ( const size_t _index )

inlinevirtual

Get the individual graph for a robot in the group.

Parameters

_index The index of the desired robot.

◆ GetIndividualGraph() [2/2]

template<typename Vertex , typename Edge >

const CompositeGraph< Vertex, Edge >::IndividualGraph * CompositeGraph< Vertex, Edge >::GetIndividualGraph ( const size_t _index ) const

inlinevirtual

Get the individual graph for a robot in the group.

Parameters

_index The index of the desired robot.

◆ GetNumRobots()

template<typename Vertex , typename Edge >

size_t CompositeGraph< Vertex, Edge >::GetNumRobots

virtualnoexcept

Get the number of robots for the group this graph is for.

◆ operator=() [1/2]

template<typename Vertex , typename Edge >

CompositeGraph& CompositeGraph< Vertex, Edge >::operator= ( CompositeGraph< Vertex, Edge > && )

delete

◆ operator=() [2/2]

template<typename Vertex , typename Edge >

CompositeGraph& CompositeGraph< Vertex, Edge >::operator= ( const CompositeGraph< Vertex, Edge > & )

delete

◆ PrettyPrint()

template<typename Vertex , typename Edge >

std::string CompositeGraph< Vertex, Edge >::PrettyPrint

Print the size of this composite graph and the individual graphs for terminal debugging.

◆ Write()

template<typename Vertex , typename Edge >

void CompositeGraph< Vertex, Edge >::Write	(	const std::string &	_filename,
		Environment *	_env
	)		const

overridevirtual

Write the graph using the current standard output rule.

Parameters

_filename	The file to write to.
_env	The environment, to place in the graph.

For now, we only support composite C-Space output as vizmo is the only vizualiser that has support for groups/composite robots.

Reimplemented from GenericStateGraph< Vertex, Edge >.

◆ WriteCompositeGraph()

template<typename Vertex , typename Edge >

void CompositeGraph< Vertex, Edge >::WriteCompositeGraph	(	const std::string &	_filename,
		Environment *const	_env
	)		const

virtual

Write the graph as a Vizmo-compatible composite C-Space path.

Parameters

_filename	The file to write to.
_env	The environment, to place in the graph.

Field Documentation

◆ m_graphs

template<typename Vertex , typename Edge >

std::vector<IndividualGraph*> CompositeGraph< Vertex, Edge >::m_graphs

protected

The individual graphs.

◆ m_group

template<typename Vertex , typename Edge >

RobotGroup* const CompositeGraph< Vertex, Edge >::m_group

protected

The robot group.

◆ m_timestamp

template<typename Vertex , typename Edge >

size_t GenericStateGraph< Vertex, Edge >::m_timestamp

protected

Tracks the number of changes to the graph.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/ConfigurationSpace/CompositeGraph.h

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename Vertex, typename Edge> class CompositeGraph< Vertex, Edge >

Member Typedef Documentation

◆ adj_edge_iterator

◆ BaseType

◆ CompositeGraphType

◆ CVI

◆ ED

◆ edge_descriptor

◆ EdgeHook

◆ EI

◆ IndividualEdge

◆ IndividualGraph

◆ STAPLGraph

◆ vertex_descriptor

◆ vertex_iterator

◆ VertexHook

◆ VI

◆ VID

Member Enumeration Documentation

◆ HookType

Constructor & Destructor Documentation

◆ CompositeGraph() [1/3]

◆ CompositeGraph() [2/3]

◆ CompositeGraph() [3/3]

Member Function Documentation

◆ AddEdge() [1/5]

◆ AddEdge() [2/5]

◆ AddEdge() [3/5]

◆ AddEdge() [4/5]

◆ AddEdge() [5/5]

◆ AddVertex()

◆ ClearHooks()

◆ DeleteEdge() [1/2]

◆ DeleteEdge() [2/2]

◆ DeleteVertex()

◆ GetGroup()

◆ GetIndividualGraph() [1/2]

◆ GetIndividualGraph() [2/2]

◆ GetNumRobots()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ PrettyPrint()

◆ Write()

◆ WriteCompositeGraph()

Field Documentation

◆ m_graphs

◆ m_group

◆ m_timestamp

template<typename Vertex, typename Edge>
class CompositeGraph< Vertex, Edge >