#include <GroupRoadmap.h>

Inheritance diagram for GroupRoadmap< Vertex, Edge >:

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Collaboration diagram for GroupRoadmap< Vertex, Edge >:

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

typedef GroupRoadmap< Vertex, Edge >	GroupRoadmapType

typedef Vertex::IndividualGraph	IndividualRoadmap

typedef IndividualRoadmap::CfgType	IndividualCfg

typedef IndividualRoadmap::EdgeType	IndividualEdge

typedef BaseType::EID	ED

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 >

Public Types inherited from CompositeGraph< Vertex, Edge >
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
template<typename MPSolution >
	GroupRoadmap (RobotGroup const _g, MPSolution const _solution)
	Construct a group roadmap. More...

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

	GroupRoadmap (GroupRoadmap &&)=delete

GroupRoadmap &	operator= (const GroupRoadmap &)=delete

GroupRoadmap &	operator= (GroupRoadmap &&)=delete

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

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

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

	CompositeGraph (const CompositeGraph &)=delete

	CompositeGraph (CompositeGraph &&)=delete

CompositeGraph &	operator= (const CompositeGraph &)=delete

CompositeGraph &	operator= (CompositeGraph &&)=delete

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...

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

virtual void	DeleteVertex (const VID _v) 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

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...

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

Protected Attributes inherited from CompositeGraph< Vertex, Edge >
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

Detailed Description

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

Represents a roadmap for a robot group.

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

Note that VIDs in this object refer to GROUP configuration VIDs.

Member Typedef Documentation

◆ adj_edge_iterator

template<typename Vertex , typename Edge >

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

◆ BaseType

template<typename Vertex , typename Edge >

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

◆ CVI

template<typename Vertex , typename Edge >

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

◆ ED

template<typename Vertex , typename Edge >

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

◆ edge_descriptor

template<typename Vertex , typename Edge >

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

◆ EI

template<typename Vertex , typename Edge >

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

◆ GroupRoadmapType

template<typename Vertex , typename Edge >

typedef GroupRoadmap<Vertex, Edge> GroupRoadmap< Vertex, Edge >::GroupRoadmapType

◆ IndividualCfg

template<typename Vertex , typename Edge >

typedef IndividualRoadmap::CfgType GroupRoadmap< Vertex, Edge >::IndividualCfg

◆ IndividualEdge

template<typename Vertex , typename Edge >

typedef IndividualRoadmap::EdgeType GroupRoadmap< Vertex, Edge >::IndividualEdge

◆ IndividualRoadmap

template<typename Vertex , typename Edge >

typedef Vertex::IndividualGraph GroupRoadmap< Vertex, Edge >::IndividualRoadmap

◆ 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 GroupRoadmap< Vertex, Edge >::vertex_descriptor

◆ vertex_iterator

template<typename Vertex , typename Edge >

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

◆ 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

Constructor & Destructor Documentation

◆ GroupRoadmap() [1/3]

template<typename Vertex , typename Edge >

template<typename MPSolution >

GroupRoadmap< Vertex, Edge >::GroupRoadmap	(	RobotGroup *const	_g,
		MPSolution *const	_solution
	)

Construct a group roadmap.

◆ GroupRoadmap() [2/3]

template<typename Vertex , typename Edge >

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

delete

◆ GroupRoadmap() [3/3]

template<typename Vertex , typename Edge >

GroupRoadmap< Vertex, Edge >::GroupRoadmap ( GroupRoadmap< 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 >

GroupRoadmap< Vertex, Edge >::ED GroupRoadmap< 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 CompositeGraph< 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 >

GroupRoadmap< Vertex, Edge >::VID GroupRoadmap< 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 CompositeGraph< Vertex, Edge >.

◆ operator=() [1/2]

template<typename Vertex , typename Edge >

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

delete

◆ operator=() [2/2]

template<typename Vertex , typename Edge >

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

delete

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

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

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ adj_edge_iterator

◆ BaseType

◆ CVI

◆ ED

◆ edge_descriptor

◆ EI

◆ GroupRoadmapType

◆ IndividualCfg

◆ IndividualEdge

◆ IndividualRoadmap

◆ STAPLGraph

◆ vertex_descriptor

◆ vertex_iterator

◆ VI

◆ VID

Constructor & Destructor Documentation

◆ GroupRoadmap() [1/3]

◆ GroupRoadmap() [2/3]

◆ GroupRoadmap() [3/3]

Member Function Documentation

◆ AddEdge() [1/5]

◆ AddEdge() [2/5]

◆ AddEdge() [3/5]

◆ AddEdge() [4/5]

◆ AddEdge() [5/5]

◆ AddVertex()

◆ operator=() [1/2]

◆ operator=() [2/2]

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