A general directed graph class. More...

#include <graph_class.h>

Inheritance diagram for GraphClass:

Public Member Functions
	GraphClass ()
	Constructor for GraphClass.

void	addVertex (int index, State s)
	Add a new vertex to the graph along with its state data.

State	getVertex (int index)
	Retrieve the state stored at a particular index in the graph.

int	getNumVertices ()
	Retrieve the total number of vertices in the graph, computed as the size of the vertices vector.

virtual void	addEdge (int idx1, int idx2)
	Add a new edge to the graph.

virtual void	addEdge (int idx1, int idx2, double edge_cost)
	Add a new edge to the graph.

void	removeEdge (int idx1, int idx2)
	Remove an edge of the graph.

virtual int	getPredecessor (int idx)
	Get the parent of a vertex.

std::vector< int >	getSuccessors (int idx)
	Get the children of a vertex.

void	addAction (int idx, Action a)
	Add an action to a particular vertex. This is the action that lead to this particular vertex from its parent.

Action	getAction (int idx)
	Get the action of a vertex.

void	updateGValue (int idx, double val)
	Update the g-value of a vertex and propogate to all its successors.

double	getGValue (int idx)
	Get the g-value of a vertex.

double	computeEdgeCost (int idx1, int idx2)
	Compute the cost of an edge between two vertices.

void	printVertex (State s)
	Print the state information via stdout.

void	printVertices ()
	Print the all vertices in the graph via stdout.

void	printIncomingEdges (int idx)
	Print the edges leading to a vertex via stdout.

virtual void	printEdges ()
	Print the all edges in the graph via stdout.

virtual void	init (State s)
	Initialize the graph by adding the root vertex (idx = 0) and setting g(idx) = 0.

Protected Attributes
std::unordered_map< int, State >	vertices
	Map from vertex indices to corresponding states.

std::unordered_map< int, Action >	actions
	Map from vertex indices to the actions leading to those vertices.

std::unordered_map< int, std::vector< int > >	edges
	Map from vertex indices to their parent(s)

std::unordered_map< int, std::vector< int > >	successors
	Map from vertex indices to their children.

std::unordered_map< int, double >	g_values
	Map from vertex indices to their costs (g-values)

Detailed Description

A general directed graph class.

This class implements a directed graph data structure with methods for adding and deleting vertices and edges, as well storing information at each vertex and providing print statements for debugging. Vertices are indexed with ints, and edges as unordered maps that map a vertex's index to the indices of its parents. If the graph is a tree there should only be one parent per vertex. Other unordered maps store information about each vertex, such as the associated state, action, or distance from the root vertex (g-value).

Constructor & Destructor Documentation

◆ GraphClass()

GraphClass::GraphClass ( )

Constructor for GraphClass.

Returns: Constructed object of type GraphClass

Member Function Documentation

◆ addAction()

void GraphClass::addAction	(	int	idx,
		Action	a
	)

Add an action to a particular vertex. This is the action that lead to this particular vertex from its parent.

Parameters

[in]	idx	Index of the desired vertex
[in]	a	Action corresponding to the desired vertex

◆ addEdge() [1/2]

void GraphClass::addEdge	(	int	idx1,
		int	idx2
	)

virtual

Add a new edge to the graph.

Parameters

[in]	idx1	Index of the outgoing vertex of the edge
[in]	idx2	Index of the incoming vertex of the edge

◆ addEdge() [2/2]

void GraphClass::addEdge	(	int	idx1,
		int	idx2,
		double	edge_cost
	)

virtual

Add a new edge to the graph.

Parameters

[in]	idx1	Index of the outgoing vertex of the edge
[in]	idx2	Index of the incoming vertex of the edge
[in]	edge_code	Cost of the new edge

◆ addVertex()

void GraphClass::addVertex	(	int	index,
		State	s
	)

Add a new vertex to the graph along with its state data.

Parameters

[in]	index	Index of the new vertex
[in]	s	State information corresponding to the specified index

◆ computeEdgeCost()

double GraphClass::computeEdgeCost	(	int	idx1,
		int	idx2
	)

Compute the cost of an edge between two vertices.

Parameters

[in]	idx1	Index of vertex 1
[in]	idx2	Index of vertex 2

Returns: Cost of the edge between idx1 and idx2

◆ getAction()

Action GraphClass::getAction ( int idx )

Get the action of a vertex.

Parameters

[in] idx Index of the desired vertex

Returns: Action corresponding to the desired vertex

◆ getGValue()

double GraphClass::getGValue ( int idx )

Get the g-value of a vertex.

Parameters

[in] idx Index of the desired vertex

Returns: G-value corresponding to the desired vertex

◆ getNumVertices()

int GraphClass::getNumVertices ( )

Retrieve the total number of vertices in the graph, computed as the size of the vertices vector.

Returns: Number of vertices in the graph

◆ getPredecessor()

int GraphClass::getPredecessor ( int idx )

virtual

Get the parent of a vertex.

Parameters

[in] idx Index of the desired vertex

Returns: Index of the parent of the specified vertex

◆ getSuccessors()

std::vector< int > GraphClass::getSuccessors ( int idx )

Get the children of a vertex.

Parameters

[in] idx Index of the desired vertex

Returns: Indices of the children of the specified vertex

◆ getVertex()

State GraphClass::getVertex ( int index )

Retrieve the state stored at a particular index in the graph.

Parameters

[in] index Index of the desired vertex

Returns: State information corresponding to the requested index

◆ init()

void GraphClass::init ( State s )

virtual

Initialize the graph by adding the root vertex (idx = 0) and setting g(idx) = 0.

Parameters

[in] s State for the root vertex

◆ printIncomingEdges()

void GraphClass::printIncomingEdges ( int idx )

Print the edges leading to a vertex via stdout.

Parameters

[in] idx Index of the desired vertex

◆ printVertex()

void GraphClass::printVertex ( State s )

Print the state information via stdout.

Parameters

[in] s The state information to print

◆ removeEdge()

void GraphClass::removeEdge	(	int	idx1,
		int	idx2
	)

Remove an edge of the graph.

Parameters

[in]	idx1	Index of the outgoing vertex of the edge
[in]	idx2	Index of the incoming vertex of the edge

◆ updateGValue()

void GraphClass::updateGValue	(	int	idx,
		double	val
	)

Update the g-value of a vertex and propogate to all its successors.

Parameters

[in]	idx	Index of the desired vertex
[in]	val	New g-value corresponding to the desired vertex

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

global_body_planner/include/global_body_planner/graph_class.h
global_body_planner/src/graph_class.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GraphClass()

Member Function Documentation

◆ addAction()

◆ addEdge() [1/2]

◆ addEdge() [2/2]

◆ addVertex()

◆ computeEdgeCost()

◆ getAction()

◆ getGValue()

◆ getNumVertices()

◆ getPredecessor()

◆ getSuccessors()

◆ getVertex()

◆ init()

◆ printIncomingEdges()

◆ printVertex()

◆ removeEdge()

◆ updateGValue()