GenericStateGraph< Vertex, Edge > Class Template Reference

#include <GenericStateGraph.h>

Inheritance diagram for GenericStateGraph< Vertex, Edge >:

Collaboration diagram for GenericStateGraph< Vertex, Edge >:

Public Types
Local Types
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
	GenericStateGraph ()
	GenericStateGraph (Robot *const _r)
Move and Copy
Move and copy operations do not copy hook functions.
	GenericStateGraph (const GenericStateGraph &_r)
	GenericStateGraph (GenericStateGraph &&_r)
GenericStateGraph &	operator= (const GenericStateGraph &_r)
GenericStateGraph &	operator= (GenericStateGraph &&_r)
Equality
bool	operator== (const GenericStateGraph &_r) const noexcept
bool	operator!= (const GenericStateGraph &_r) const noexcept
Modifiers
virtual VID	AddVertex (const Vertex &_v) noexcept
virtual VID	AddVertex (const VID _vid, const Vertex &_v) noexcept
virtual VID	AddDuplicateVertex (const Vertex &_v) noexcept
virtual void	DeleteVertex (const VID _v) noexcept
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
virtual void	DeleteEdge (const VID _source, const VID _target) noexcept
virtual void	DeleteEdge (EI _iterator) 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)
Queries
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...
Accessors
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
Hooks
Hooks are arbitrary functions that are attached to roadmap events. I.e., whenever a vertex is added, a set of functions should be called (hooks). There is a set of hooks for each of the four modifying actions (add/delete a vertex/edge). IMPORTANT: Hooks for 'add' events execute immediately after the event, while hooks for 'delete' events execute immediately prior. This ensures that the iterator and neighbor information are valid in both cases. IMPORTANT: Dependencies between hooks create data races. To avoid problems, any piece of data that is modified by one hook should not be read or modified by any other hook.
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...
virtual void	ClearHooks () noexcept

Protected Member Functions
Helpers
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

Protected Attributes
Internal State
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

I/O
virtual void	Write (const std::string &_filename, Environment *_env) const
template<typename RG >
void	Read (RG *_g, const std::string &_filename)
template<typename RG >
void	ReadMessage (RG *_g, const std::string &_msg)

Detailed Description

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

Graph data structure of robot configurations (vertices) connected by local plans (edges).

We often want to do some extra stuff whenever the roadmap is modified. To support that, this object can install hook functions for each of the four modifying events (add/delete a vertex/edge). Note that there is no particular ordering to the hook execution - this is deliberate because we will create a maintenance nightmare if hooks are allowed to depend on each other. As such, no two hooks should modify the same data. Terrible and unpredictable things will happen if you do this!

Template Parameters

Vertex	The vertex or configuration type.
Edge	The edge or local plan type.

Member Typedef Documentation

CCTrackerType

template<typename Vertex , typename Edge >

typedef CCTracker<GenericStateGraph<Vertex, Edge> > GenericStateGraph< Vertex, Edge >::CCTrackerType

CEI

template<typename Vertex , typename Edge >

typedef STAPLGraph::const_adj_edge_iterator GenericStateGraph< Vertex, Edge >::CEI

CfgType

template<typename Vertex , typename Edge >

typedef Vertex GenericStateGraph< Vertex, Edge >::CfgType

ColorMap

template<typename Vertex , typename Edge >

typedef stapl::sequential::vector_property_map<STAPLGraph, size_t> GenericStateGraph< Vertex, Edge >::ColorMap

CVI

template<typename Vertex , typename Edge >

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

EdgeHook

template<typename Vertex , typename Edge >

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

EdgeID

template<typename Vertex , typename Edge >

typedef EID::edge_id_type GenericStateGraph< Vertex, Edge >::EdgeID

EdgeType

template<typename Vertex , typename Edge >

typedef Edge GenericStateGraph< Vertex, Edge >::EdgeType

EI

template<typename Vertex , typename Edge >

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

EID

template<typename Vertex , typename Edge >

typedef STAPLGraph::edge_descriptor GenericStateGraph< Vertex, Edge >::EID

EP

template<typename Vertex , typename Edge >

typedef STAPLGraph::edge_property GenericStateGraph< Vertex, Edge >::EP

STAPLGraph

template<typename Vertex , typename Edge >

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

VertexHook

template<typename Vertex , typename Edge >

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

VertexSet

template<typename Vertex , typename Edge >

typedef std::unordered_set<VID> GenericStateGraph< Vertex, Edge >::VertexSet

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

VP

template<typename Vertex , typename Edge >

typedef STAPLGraph::vertex_property GenericStateGraph< Vertex, Edge >::VP

Member Enumeration Documentation

HookType

template<typename Vertex , typename Edge >

enum GenericStateGraph::HookType

strong

Enumerator
AddVertex
DeleteVertex
AddEdge
DeleteEdge

Constructor & Destructor Documentation

GenericStateGraph() [1/4]

template<typename Vertex , typename Edge >

GenericStateGraph< Vertex, Edge >::GenericStateGraph

GenericStateGraph() [2/4]

template<typename Vertex , typename Edge >

GenericStateGraph< Vertex, Edge >::GenericStateGraph

(

Robot *const

_r

)

GenericStateGraph() [3/4]

template<typename Vertex , typename Edge >

GenericStateGraph< Vertex, Edge >::GenericStateGraph

(

const GenericStateGraph< Vertex, Edge > &

_r

)

GenericStateGraph() [4/4]

template<typename Vertex , typename Edge >

GenericStateGraph< Vertex, Edge >::GenericStateGraph

(

GenericStateGraph< Vertex, Edge > &&

_r

)

Member Function Documentation

AddDuplicateVertex()

template<typename Vertex , typename Edge >

GenericStateGraph< Vertex, Edge >::VID GenericStateGraph< Vertex, Edge >::AddDuplicateVertex ( const Vertex &  _v )

virtualnoexcept

Add a vertex to the graph without checking for uniqueness.

Parameters

_v	The vertex to add.

Returns

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

AddEdge() [1/4]

template<class Vertex , class Edge >

GenericStateGraph< Vertex, Edge >::EID GenericStateGraph< Vertex, Edge >::AddEdge ( const EID  _eid, const Edge &  _w  )

virtualnoexcept

AddEdge() [2/4]

template<class Vertex , class Edge >

GenericStateGraph< Vertex, Edge >::EID GenericStateGraph< Vertex, Edge >::AddEdge ( const VID  _source, const VID  _target  )

virtualnoexcept

AddEdge() [3/4]

template<class Vertex , class Edge >

GenericStateGraph< Vertex, Edge >::EID GenericStateGraph< Vertex, Edge >::AddEdge ( const VID  _source, const VID  _target, const Edge &  _w  )

virtualnoexcept

Add an edge from source to target.

Parameters

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

Reimplemented in GroupRoadmap< Vertex, Edge >, and CompositeGraph< Vertex, Edge >.

AddEdge() [4/4]

template<class Vertex , class Edge >

std::pair< typename GenericStateGraph< Vertex, Edge >::EID, typename GenericStateGraph< Vertex, Edge >::EID > GenericStateGraph< Vertex, Edge >::AddEdge ( const VID  _source, const VID  _target, const std::pair< Edge, Edge > &  _w  )

virtualnoexcept

Add edges both ways between source and target vertices.

Parameters

_source	The source vertex.
_target	The target vertex.
_w	The edge properties (source to target first).

AddVertex() [1/2]

template<typename Vertex , typename Edge >

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

virtualnoexcept

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 in GroupRoadmap< Vertex, Edge >, and CompositeGraph< Vertex, Edge >.

AddVertex() [2/2]

template<typename Vertex , typename Edge >

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

virtualnoexcept

Add a new unique vertex to the graph with a designated descriptor. If it already exists or the descriptor is already in use, a warning will be printed to cerr.

Parameters

_vid	The desired descriptor.
_v	The vertex property.

Returns

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

AppendRoadmap()

template<typename Vertex , typename Edge >

void GenericStateGraph< Vertex, Edge >::AppendRoadmap

(

const GenericStateGraph< Vertex, Edge > &

_r

)

Copy the nodes and edges from another roadmap and append them to this. Assumes the configurations are compatible with this roadmap's robot.

Parameters

_r	The roadmap to copy from.

ClearHooks()

template<typename Vertex , typename Edge >

void GenericStateGraph< Vertex, Edge >::ClearHooks

virtualnoexcept

Uninstall all hooks. Should only be used at the end of a library run to clean the roadmap object.

Reimplemented in CompositeGraph< Vertex, Edge >.

DeleteEdge() [1/2]

template<class Vertex , class Edge >

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

virtualnoexcept

Remove an edge from the graph if it exists.

Parameters

_source	The source vertex.
_target	The target vertex.

Reimplemented in CompositeGraph< Vertex, Edge >.

DeleteEdge() [2/2]

template<class Vertex , class Edge >

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

virtualnoexcept

Remove an edge from the graph if it exists.

Parameters

_iterator

An iterator to the edge.

Reimplemented in CompositeGraph< Vertex, Edge >.

DeleteVertex()

template<typename Vertex , typename Edge >

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

virtualnoexcept

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

Parameters

_v	The vertex descriptor.

Reimplemented in CompositeGraph< Vertex, Edge >.

DisableHooks()

template<typename Vertex , typename Edge >

void GenericStateGraph< Vertex, Edge >::DisableHooks

inlinenoexcept

Disable the hooks. This is useful for making temporary additions and deletions to the roadmap without triggering the hook functions. Be sure to re-enable them after, and to only use this in isolated code segments where you are sure that we won't miss any real nodes.

EnableHooks()

template<typename Vertex , typename Edge >

void GenericStateGraph< Vertex, Edge >::EnableHooks

inlinenoexcept

Enable the hook functions (default).

ExecuteAddEdgeHooks()

template<typename Vertex , typename Edge >

void GenericStateGraph< Vertex, Edge >::ExecuteAddEdgeHooks ( const EI  _iterator )

inlineprotectednoexcept

Execute the AddEdge hooks.

Parameters

_iterator

An iterator to the newly added edge.

ExecuteAddVertexHooks()

template<typename Vertex , typename Edge >

void GenericStateGraph< Vertex, Edge >::ExecuteAddVertexHooks ( const VI  _iterator )

inlineprotectednoexcept

Execute the AddVertex hooks.

Parameters

_iterator

An iterator to the newly added vertex.

ExecuteDeleteEdgeHooks()

template<typename Vertex , typename Edge >

void GenericStateGraph< Vertex, Edge >::ExecuteDeleteEdgeHooks ( const EI  _iterator )

inlineprotectednoexcept

Execute the DeleteEdge hooks.

Parameters

_iterator

An iterator to the to-be-deleted edge.

ExecuteDeleteVertexHooks()

template<typename Vertex , typename Edge >

void GenericStateGraph< Vertex, Edge >::ExecuteDeleteVertexHooks ( const VI  _iterator )

inlineprotectednoexcept

Execute the DeleteVertex hooks.

Parameters

_iterator

An iterator to the to-be-deleted vertex.

FindInboundEdges()

template<typename Vertex , typename Edge >

std::vector< typename GenericStateGraph< Vertex, Edge >::EI > GenericStateGraph< Vertex, Edge >::FindInboundEdges

(

const VID

_vid

)

GetAllVIDs()

template<typename Vertex , typename Edge >

const GenericStateGraph< Vertex, Edge >::VertexSet & GenericStateGraph< Vertex, Edge >::GetAllVIDs

inlinenoexcept

Get the set of all VIDs in the roadmap.

GetCCTracker()

template<typename Vertex , typename Edge >

GenericStateGraph< Vertex, Edge >::CCTrackerType * GenericStateGraph< Vertex, Edge >::GetCCTracker

inlinenoexcept

Get the connected component tracker.

GetChildren()

template<typename Vertex , typename Edge >

std::vector< typename GenericStateGraph< Vertex, Edge >::VID > GenericStateGraph< Vertex, Edge >::GetChildren ( const VID  _vid ) const

noexcept

Get the set of VIDs which are children of a given vertex.

Parameters

_vid	The VID of the given vertex.

Returns

The VIDs of each node u for which and edge (_vid, u) exists.

GetEdge() [1/4]

template<typename Vertex , typename Edge >

GenericStateGraph< Vertex, Edge >::EP & GenericStateGraph< Vertex, Edge >::GetEdge ( const EID  _descriptor )

inlinenoexcept

GetEdge() [2/4]

template<typename Vertex , typename Edge >

GenericStateGraph< Vertex, Edge >::EP & GenericStateGraph< Vertex, Edge >::GetEdge ( const VID  _source, const VID  _target  )

inlinenoexcept

GetEdge() [3/4]

template<typename Vertex , typename Edge >

bool GenericStateGraph< Vertex, Edge >::GetEdge ( const VID  _source, const VID  _target, CEI &  _ei  ) const

inlinenoexcept

GetEdge() [4/4]

template<typename Vertex , typename Edge >

bool GenericStateGraph< Vertex, Edge >::GetEdge ( const VID  _source, const VID  _target, EI &  _ei  )

inlinenoexcept

Retrieve an edge from the graph.

Parameters

_source	The source node VID.
_target	The target node VID.
_ei	An edge iterator, set to the specified edge if found or end otherwise.

Returns

True if the edge was located.

GetInDegree()

template<typename Vertex , typename Edge >

size_t GenericStateGraph< Vertex, Edge >::GetInDegree ( const VID  _vid )

noexcept

GetLastVID()

template<typename Vertex , typename Edge >

GenericStateGraph< Vertex, Edge >::VID GenericStateGraph< Vertex, Edge >::GetLastVID

inlinenoexcept

Get the descriptor of the last vertex added to the graph.

GetPredecessors()

template<typename Vertex , typename Edge >

const GenericStateGraph< Vertex, Edge >::VertexSet & GenericStateGraph< Vertex, Edge >::GetPredecessors ( const VID  _vid ) const

inlinenoexcept

Get the set of predecessors for a given vertex.

Parameters

_vid	The vertex descriptor.

Returns

The set of VIDs which have _vid as a child node.

GetRobot()

template<typename Vertex , typename Edge >

Robot * GenericStateGraph< Vertex, Edge >::GetRobot

inlinenoexcept

Get the robot represented by this roadmap.

GetTimestamp()

template<typename Vertex , typename Edge >

size_t GenericStateGraph< Vertex, Edge >::GetTimestamp

inlinenoexcept

Each time the roadmap is modified, we update the timestamp.

GetVertex() [1/6]

template<typename Vertex , typename Edge >

const GenericStateGraph< Vertex, Edge >::VP & GenericStateGraph< Vertex, Edge >::GetVertex ( CVI &  _t ) const

inlinenoexcept

GetVertex() [2/6]

template<typename Vertex , typename Edge >

template<typename T >

const GenericStateGraph< Vertex, Edge >::VP & GenericStateGraph< Vertex, Edge >::GetVertex ( T &  _t ) const

inlinenoexcept

Retrieve a constant reference to a vertex property by descriptor or iterator.

GetVertex() [3/6]

template<typename Vertex , typename Edge >

template<typename T >

GenericStateGraph< Vertex, Edge >::VP & GenericStateGraph< Vertex, Edge >::GetVertex ( T &  _t )

inlinenoexcept

Retrieve a reference to a vertex property by descriptor or iterator.

GetVertex() [4/6]

template<typename Vertex , typename Edge >

GenericStateGraph< Vertex, Edge >::VP & GenericStateGraph< Vertex, Edge >::GetVertex ( VI &  _t )

inlinenoexcept

GetVertex() [5/6]

template<typename Vertex , typename Edge >

const GenericStateGraph< Vertex, Edge >::VP & GenericStateGraph< Vertex, Edge >::GetVertex ( VID  _t ) const

inlinenoexcept

GetVertex() [6/6]

template<typename Vertex , typename Edge >

GenericStateGraph< Vertex, Edge >::VP & GenericStateGraph< Vertex, Edge >::GetVertex ( VID  _t )

inlinenoexcept

GetVID() [1/3]

template<typename Vertex , typename Edge >

template<typename T >

GenericStateGraph< Vertex, Edge >::VID GenericStateGraph< Vertex, Edge >::GetVID ( const T &  _t ) const

inlinenoexcept

Get the descriptor of a vertex property if it exists in the graph, or INVALID_VID otherwise.

GetVID() [2/3]

template<typename Vertex , typename Edge >

GenericStateGraph< Vertex, Edge >::VID GenericStateGraph< Vertex, Edge >::GetVID ( const Vertex &  _t ) const

inlinenoexcept

GetVID() [3/3]

template<typename Vertex , typename Edge >

GenericStateGraph< Vertex, Edge >::VID GenericStateGraph< Vertex, Edge >::GetVID ( const VI &  _t ) const

inlinenoexcept

InstallHook() [1/2]

template<typename Vertex , typename Edge >

void GenericStateGraph< Vertex, Edge >::InstallHook	(	const HookType	_type,
		const std::string &	_label,
		const EdgeHook &	_h
	)

Install an edge hook. It will be called each time a new edge is added.

Parameters

_type	The hook type (edge add/delete).
_label	The unique label.
_h	The hook function.

InstallHook() [2/2]

template<typename Vertex , typename Edge >

void GenericStateGraph< Vertex, Edge >::InstallHook	(	const HookType	_type,
		const std::string &	_label,
		const VertexHook &	_h
	)

Install a vertex hook. It will be called each time a new vertex is added.

Parameters

_type	The hook type (vertex add/delete).
_label	The unique label.
_h	The hook function.

IsEdge()

template<typename Vertex , typename Edge >

bool GenericStateGraph< Vertex, Edge >::IsEdge ( const VID  _source, const VID  _target  ) const

inlinenoexcept

Check if an edge is present between two vertices.

Parameters

_source	The source vertex.
_target	The target vertex.

Returns

True if an edge exists from source to target.

IsHook()

template<typename Vertex , typename Edge >

bool GenericStateGraph< Vertex, Edge >::IsHook	(	const HookType	_type,
		const std::string &	_label
	)		const

Check if a hook with a given type and label is installed.

Parameters

_type	The hook type.
_label	The unique label.

Returns

True if a hook of the specified type and label is present.

IsVertex() [1/3]

template<typename Vertex , typename Edge >

bool GenericStateGraph< Vertex, Edge >::IsVertex ( const Vertex &  _v ) const

inlinenoexcept

Check if a vertex is present in the graph.

Parameters

_v	The vertex property to seek.

Returns

True if the vertex property was found in the graph.

IsVertex() [2/3]

template<typename Vertex , typename Edge >

bool GenericStateGraph< Vertex, Edge >::IsVertex ( const Vertex &  _v, CVI &  _vi  ) const

inlinenoexcept

Check if a vertex is present in the graph and retrieve a const iterator to it if so.

Parameters

_v	The vertex property to seek.
_vi	A vertex iterator, set to the located vertex or end if not found.

Returns

True if the vertex property was found in the graph.

IsVertex() [3/3]

template<typename Vertex , typename Edge >

bool GenericStateGraph< Vertex, Edge >::IsVertex ( const VID  _vid ) const

inlinenoexcept

Check if a vertex is present in the graph.

Parameters

_vid	The vertex descriptor

Returns

True if the vertex descriptor was found in the graph.

operator!=()

template<typename Vertex , typename Edge >

bool GenericStateGraph< Vertex, Edge >::operator!= ( const GenericStateGraph< Vertex, Edge > &  _r ) const

noexcept

operator=() [1/2]

template<typename Vertex , typename Edge >

GenericStateGraph< Vertex, Edge > & GenericStateGraph< Vertex, Edge >::operator=

(

const GenericStateGraph< Vertex, Edge > &

_r

)

operator=() [2/2]

template<typename Vertex , typename Edge >

GenericStateGraph< Vertex, Edge > & GenericStateGraph< Vertex, Edge >::operator=

(

GenericStateGraph< Vertex, Edge > &&

_r

)

operator==()

template<typename Vertex , typename Edge >

bool GenericStateGraph< Vertex, Edge >::operator== ( const GenericStateGraph< Vertex, Edge > &  _r ) const

noexcept

RemoveHook()

template<typename Vertex , typename Edge >

void GenericStateGraph< Vertex, Edge >::RemoveHook	(	const HookType	_type,
		const std::string &	_label
	)

Remove a hook.

Parameters

_type	The hook type.
_label	The unique label.

SetCCTracker()

template<typename Vertex , typename Edge >

void GenericStateGraph< Vertex, Edge >::SetCCTracker ( StatClass *const  _stats = nullptr )

inline

Set the CC tracker.

Parameters

_stats

Optional stat class for performance profiling.

SetRobot()

template<typename Vertex , typename Edge >

void GenericStateGraph< Vertex, Edge >::SetRobot ( Robot *const  _r )

noexcept

Set the robot pointer on all configurations in the map.

Size()

template<typename Vertex , typename Edge >

size_t GenericStateGraph< Vertex, Edge >::Size

inlinenoexcept

Get the number of vertices in the roadmap.

ToString()

template<typename Vertex , typename Edge >

std::string GenericStateGraph< Vertex, Edge >::ToString ( const HookType &  _t ) const

protectednoexcept

Helper for printing hook type names.

Parameters

_t	A hook type.

Returns

The string representation of _t.

Write()

template<typename Vertex , typename Edge >

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

virtual

Write the current roadmap out to a roadmap (.map) file.

Parameters

_filename	The name of the map file to write to.
_env	The environment for which this map was constructed.

Reimplemented in CompositeGraph< Vertex, Edge >.

Friends And Related Function Documentation

Read

template<typename Vertex , typename Edge >

template<typename RG >

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

friend

Read in a roadmap (.map) file.

Parameters

_filename

The name of the map file to read.

Note

Temporarily moved to non-member function.

ReadMessage

template<typename Vertex , typename Edge >

template<typename RG >

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

friend

Field Documentation

m_addEdgeHooks

template<typename Vertex , typename Edge >

std::unordered_map<std::string, EdgeHook> GenericStateGraph< Vertex, Edge >::m_addEdgeHooks

protected

Hook functions to call when adding an edge.

m_addVertexHooks

template<typename Vertex , typename Edge >

std::unordered_map<std::string, VertexHook> GenericStateGraph< Vertex, Edge >::m_addVertexHooks

protected

Hook functions to call when adding a vertex.

m_allVIDs

template<typename Vertex , typename Edge >

VertexSet GenericStateGraph< Vertex, Edge >::m_allVIDs

protected

A set of all VIDs in the roadmap. We track this to make nearest-neighbor queries more efficient.

m_ccTracker

template<typename Vertex , typename Edge >

std::unique_ptr<CCTrackerType> GenericStateGraph< Vertex, Edge >::m_ccTracker

protected

Tracks weak CCs within the roadmap.

m_deleteEdgeHooks

template<typename Vertex , typename Edge >

std::unordered_map<std::string, EdgeHook> GenericStateGraph< Vertex, Edge >::m_deleteEdgeHooks

protected

Hook functions to call when deleting an edge.

m_deleteVertexHooks

template<typename Vertex , typename Edge >

std::unordered_map<std::string, VertexHook> GenericStateGraph< Vertex, Edge >::m_deleteVertexHooks

protected

Hook functions to call when deleting a vertex.

m_enableHooks

template<typename Vertex , typename Edge >

bool GenericStateGraph< Vertex, Edge >::m_enableHooks {true}

protected

Use hook functions?

m_predecessors

template<typename Vertex , typename Edge >

std::unordered_map<VID, VertexSet> GenericStateGraph< Vertex, Edge >::m_predecessors

protected

Tracks predecessor information. We use this instead of switching to a STAPL directed_preds graph because (a) directed_preds uses a vector for storage of VIDs, making all changes linear-time operations in the in-degree of each vertex, and (b) the STAPL API is not interchangable as it should be, so switching causes ridiculous compiler errors.

m_robot

template<typename Vertex , typename Edge >

Robot* GenericStateGraph< Vertex, Edge >::m_robot {nullptr}

protected

The robot this roadmap is for.

m_timestamp

template<typename Vertex , typename Edge >

size_t GenericStateGraph< Vertex, Edge >::m_timestamp {0}

protected

Tracks the number of changes to the graph.

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

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