Navigation graph class Manipulate vertices as 2d positions and each position is unique. More...

Detailed Description

template<typename EDGE_BUNDLE, typename VERTEX_BUNDLE, typename EDGE_WEIGHT_T>
class jafar::lgl::NavGraphT< EDGE_BUNDLE, VERTEX_BUNDLE, EDGE_WEIGHT_T >

Navigation graph class Manipulate vertices as 2d positions and each position is unique.

Definition at line 42 of file Graphs.hpp.

#include <Graphs.hpp>

Public Types
typedef adjacency_list< listS, vecS, directedS, VERTEX_BUNDLE, EDGE_BUNDLE >	GraphContainer
typedef graph_traits < GraphContainer > ::vertex_descriptor	Vertex
typedef graph_traits < GraphContainer > ::edge_descriptor	Edge
typedef std::pair< Edge, Edge >	EdgePair
typedef graph_traits < GraphContainer > ::vertex_iterator	vertex_iterator
typedef graph_traits < GraphContainer > ::edge_iterator	edge_iterator
typedef graph_traits < GraphContainer > ::adjacency_iterator	adjacency_iterator
typedef graph_traits < GraphContainer > ::out_edge_iterator	out_edge_iterator
typedef graph_traits < GraphContainer > ::degree_size_type	degree_t
typedef std::pair < adjacency_iterator, adjacency_iterator >	adjacency_vertex_range_t
typedef std::pair < out_edge_iterator, out_edge_iterator >	out_edge_range_t
typedef std::pair < vertex_iterator, vertex_iterator >	vertex_range_t
typedef std::pair < edge_iterator, edge_iterator >	edge_range_t
typedef std::map< int, Vertex >	PosToVertex
typedef std::map< int, Vertex > ::iterator	PosToVertex_iterator
typedef property_map < GraphContainer, EDGE_WEIGHT_T EDGE_BUNDLE::* > ::type	WeightMap
Public Member Functions
	NavGraphT (int _xsize, int _ysize)
	Create a navigation graph for a terrain (xsize,ysize)
Vertex	getVertex (const NavLocation &loc)
	Get the vertex index of the graph node corresponding to the given location loc.
bool	getVertex (const NavLocation &loc, Vertex &v, bool check=false)
	The same as getVertex but check if vertex exists.
NavLocation	getClosestLocation (const NavLocation &_loc)
	Returns closest location to _loc that is in-graph.
Edge	getEdge (const NavLocation &loc1, const NavLocation &loc2)
	Returns the edge descriptor between two locations.
Edge	getEdge (const NavLocation &loc1, const Vertex &vloc2)
	Returns the edge descriptor between one vertex and one location.
Edge	getEdge (const Vertex &vloc1, const NavLocation &loc2)
	Returns the edge descriptor between one vertex and one location.
Edge	getEdge (const Vertex &vloc1, const Vertex &vloc2)
	Returns the edge descriptor between one vertex and one location.
bool	vertexExists (const NavLocation &loc)
	check the vertex existence with bundle
Vertex	addVertex (const NavLocation &loc)
	add the vertex with a given pos
void	removeGraphContent ()
	Removes a vertex and all its edges.
bool	removeVertex (const NavLocation &loc)
	Removes a vertex and all its edges.
bool	removeEdgesOnly (const NavLocation &loc)
	Removes only the edges of a graph's vertex.
bool	removeOutEdges (const NavLocation &loc)
	Removes edges with source vertex as loc.
bool	removeInEdges (const NavLocation &loc)
	Removes edges with destination vertex as loc.
bool	addEdge (const NavLocation &loc1, const NavLocation &loc2, bool check=false)
bool	addEdge (const NavLocation &loc1, const NavLocation &loc2, Edge &edge, bool check=false)
bool	addEdge (const NavLocation &loc1, const NavLocation &loc2, const EDGE_BUNDLE &bundle, bool check=false)
bool	addDualEdge (const NavLocation &loc1, const NavLocation &loc2)
bool	addDualEdgeFast (const NavLocation &loc1, const NavLocation &loc2)
bool	addDualEdgeFast (const NavLocation &loc1, const NavLocation &loc2, const EDGE_BUNDLE &edge1, const EDGE_BUNDLE &edge2)
bool	mesh (std::vector< NavLocation > &locs)
bool	connectInOutLocs (std::vector< NavLocation > &locs)
bool	connect (NavLocation locToConnect, std::vector< NavLocation > &locs, bool verbose=false)
bool	removeEdge (const NavLocation &loc1, const NavLocation &loc2)
	Removes an edge between two location nodes.
bool	removeDualEdge (const NavLocation &loc1, const NavLocation &loc2)
bool	setVertexBundle (const NavLocation &loc, const VERTEX_BUNDLE &bundle)
bool	setEdgeBundle (const Edge &e, const EDGE_BUNDLE &bundle)
bool	setEdgeBundle (const Vertex &v1, const Vertex &v2, const EDGE_BUNDLE &bundle)
bool	setEdgeBundle (const NavLocation &loc1, const NavLocation &loc2, const EDGE_BUNDLE &bundle, bool check=false)
bool	getVertexBundle (const NavLocation &loc, VERTEX_BUNDLE &bundle, bool check=false)
bool	getVertexBundle (const Vertex &v, VERTEX_BUNDLE &bundle)
bool	getEdgeBundle (const Edge &e, EDGE_BUNDLE &bundle)
	Returns the bundled copy of an edge descriptor.
bool	getEdgeBundle (const Vertex &v1, const Vertex &v2, EDGE_BUNDLE &bundle)
bool	getEdgeBundle (const NavLocation &loc1, const NavLocation &loc2, EDGE_BUNDLE &bundle, bool check=false)
GraphContainer *	getGCtn ()
	get pointer to the boost graph container object
void	clear ()
NavGraphT &	operator= (const NavGraphT &rhs)
void	print ()
	print the graph
Public Attributes
GraphContainer	graph
	Boost graph object.
PosToVertex	verticesMap
int	xsize
int	ysize
Private Member Functions
bool	vertexExists (const int &posId)