.. _program_listing_file_src_ompl_datastructures_AdjacencyList.h: Program Listing for File AdjacencyList.h ======================================== |exhale_lsh| :ref:`Return to documentation for file ` (``src/ompl/datastructures/AdjacencyList.h``) .. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS .. code-block:: cpp /********************************************************************* * Software License Agreement (BSD License) * * Copyright (c) 2015, Rice University * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of the Rice University nor the names of its * contributors may be used to endorse or promote products derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. *********************************************************************/ /* Author: Ryan Luna */ #ifndef ADJACENCY_LIST_ #define ADJACENCY_LIST_ #include #include namespace ompl { // An undirected graph containing vertices and weighted edges // Edges are stored using an adjacency list. // Only one edge per vertex pair is allowed. class AdjacencyList { public: AdjacencyList(); // Initialize the graph with n vertices and no edges AdjacencyList(int n); ~AdjacencyList(); // Remove all vertices and edges void clear(); // Add a new vertex to the graph. The id of the vertex is returned // Note: Vertex removal is not supported to simplify the implementation, // provide stability of vertex descriptors, and for performance reasons int addVertex(); // Return the number of vertices in the graph int numVertices() const; // Return true if a vertex with the given id exists bool vertexExists(int v) const; // Return true if v1 and v2 are connected in the graph (in the same connected component) // NOTE: THIS FUNCTION MAY NOT BE CORRECT IF EDGES ARE EVER REMOVED FROM THE GRAPH bool inSameComponent(int v1, int v2) const; // Return the number of connected components in the graph // NOTE: THIS FUNCTION MAY NOT BE CORRECT IF EDGES ARE EVER REMOVED FROM THE GRAPH int numConnectedComponents() const; // Return the connected component set the vertex belongs to int getComponentID(int vtx) const; // Add an edge between v1 and v2 in the graph with the (optional) weight // If the edge already exists, false is returned bool addEdge(int v1, int v2, double weight = 1.0); // Remove the edge between v1 and v2. False is returned if the edge does not exist // NOTE: USING THIS FUNCTION TRASHES CONNECTED COMPONENT CAPABILITIES bool removeEdge(int v1, int v2); // Return the number of edges in the graph int numEdges() const; // Returns the weight of the edge between vertices v1 and v2. An exception is thrown when the edge does not exist double getEdgeWeight(int v1, int v2) const; // Update the edge weight between v1 and v2 bool setEdgeWeight(int v1, int v2, double weight); // Returns true if an edge exists between vertices v1 and v2 bool edgeExists(int v1, int v2) const; // Returns number of adjacent vertices for the given vertex int numNeighbors(int vtx) const; // Returns the adjacent vertices of the given vertex void getNeighbors(int vtx, std::vector& nbrs) const; // Return the adjacent vertices of the given vertex and the weights associated with each edge void getNeighbors(int vtx, std::vector >& nbrs) const; // Dijkstra's shortest path search from v1 to v2. If a path exists, the solution is stored in path and true is returned. bool dijkstra(int v1, int v2, std::vector& path) const; // Dijkstra's shortest path search starting from v1. The predecessors of each node are stored in predecessors. // If the predecessor of a node is itself, it is not reachable from vtx (or is equal to vtx). // The total distance from vtx to each node is stored in distance. A value of double::max() indicates an unreachable node. void dijkstra(int vtx, std::vector& predecessors, std::vector& distance) const; protected: // Mutex, for thread safety mutable boost::mutex lock_; // Obscured to prevent unnecessary inclusion of BGL throughout the rest of the code. void* graphRaw_; // Obscured to prevent unnecessary inclusion of BGL throughout the rest of the code. void* disjointSetsRaw_; }; } #endif