#include <hyper_graph.h>

Inheritance diagram for g2o::HyperGraph:

[legend]

Classes
class	Data
	data packet for a vertex. Extend this class to store in the vertices the potential additional information you need (e.g. images, laser scans, ...). More...

class	DataContainer
	Container class that implements an interface for adding/removing Data elements in a linked list. More...

class	Edge

struct	HyperGraphElement

class	Vertex
	abstract Vertex, your types must derive from that one More...

Public Types
typedef std::bitset< HyperGraph::HGET_NUM_ELEMS >	GraphElemBitset

typedef std::set< Edge * >	EdgeSet

typedef std::set< Vertex * >	VertexSet

typedef std::unordered_map< int, Vertex * >	VertexIDMap

typedef std::vector< Vertex * >	VertexContainer

Public Member Functions
	HyperGraph ()
	constructs an empty hyper graph

virtual	~HyperGraph ()
	destroys the hyper-graph and all the vertices of the graph

Vertex *	vertex (int id)

const Vertex *	vertex (int id) const

virtual bool	removeVertex (Vertex *v, bool detach=false)

virtual bool	removeEdge (Edge *e)

virtual void	clear ()
	clears the graph and empties all structures.

const VertexIDMap &	vertices () const

VertexIDMap &	vertices ()

const EdgeSet &	edges () const

EdgeSet &	edges ()

virtual bool	addVertex (Vertex *v)

virtual bool	addEdge (Edge *e)

virtual bool	setEdgeVertex (Edge e, int pos, Vertex v)

virtual bool	mergeVertices (Vertex vBig, Vertex vSmall, bool erase)

virtual bool	detachVertex (Vertex *v)

virtual bool	changeId (Vertex *v, int newId)

Public Attributes
class G2O_CORE_API	Data

class G2O_CORE_API	DataContainer

class G2O_CORE_API	Vertex

class G2O_CORE_API	Edge

Static Public Attributes
static const int	UnassignedId = -1

static const int	InvalidId = -2

Protected Attributes
VertexIDMap	_vertices

EdgeSet	_edges

Private Member Functions
	HyperGraph (const HyperGraph &)

HyperGraph &	operator= (const HyperGraph &)

Detailed Description

Class that models a directed Hyper-Graph. An hyper graph is a graph where an edge can connect one or more nodes. Both Vertices and Edges of an hyper graph derive from the same class HyperGraphElement, thus one can implement generic algorithms that operate transparently on edges or vertices (see HyperGraphAction).

The vertices are uniquely identified by an int id, while the edges are identfied by their pointers.

Definition at line 53 of file hyper_graph.h.

Member Typedef Documentation

◆ EdgeSet

typedef std::set<Edge*> g2o::HyperGraph::EdgeSet

Definition at line 141 of file hyper_graph.h.

◆ GraphElemBitset

typedef std::bitset<HyperGraph::HGET_NUM_ELEMS> g2o::HyperGraph::GraphElemBitset

Definition at line 70 of file hyper_graph.h.

◆ VertexContainer

typedef std::vector<Vertex*> g2o::HyperGraph::VertexContainer

Definition at line 145 of file hyper_graph.h.

◆ VertexIDMap

typedef std::unordered_map<int, Vertex*> g2o::HyperGraph::VertexIDMap

Definition at line 144 of file hyper_graph.h.

◆ VertexSet

typedef std::set<Vertex*> g2o::HyperGraph::VertexSet

Definition at line 142 of file hyper_graph.h.

Constructor & Destructor Documentation

◆ HyperGraph() [1/2]

g2o::HyperGraph::HyperGraph ( )

constructs an empty hyper graph

Definition at line 204 of file hyper_graph.cpp.

204{}

◆ ~HyperGraph()

g2o::HyperGraph::~HyperGraph ( )

virtual

destroys the hyper-graph and all the vertices of the graph

Definition at line 219 of file hyper_graph.cpp.

219{ HyperGraph::clear(); }

g2o::HyperGraph::clear

virtual void clear()

clears the graph and empties all structures.

Definition hyper_graph.cpp:206

References clear().

◆ HyperGraph() [2/2]

g2o::HyperGraph::HyperGraph ( const HyperGraph & )

inlineprivate

Definition at line 302 of file hyper_graph.h.

302{}

Member Function Documentation

◆ addEdge()

bool g2o::HyperGraph::addEdge ( Edge * e )

virtual

Adds an edge to the graph. If the edge is already in the graph, it does nothing and returns false. Otherwise it returns true.

Reimplemented in g2o::OptimizableGraph.

Definition at line 93 of file hyper_graph.cpp.

                                {
  for (Vertex* v : e->vertices()) {  // be sure that all vertices are set
    if (!v) return false;
  }
 
  // check for duplicates in the vertices and do not add this edge
  if (e->vertices().size() == 2) {
    if (e->vertices()[0] == e->vertices()[1]) return false;
  } else if (e->vertices().size() == 3) {
    if (e->vertices()[0] == e->vertices()[1] ||
        e->vertices()[0] == e->vertices()[2] ||
        e->vertices()[1] == e->vertices()[2])
      return false;
  } else if (e->vertices().size() > 3) {
    std::unordered_set<Vertex*> vertexPointer;
    std::copy(e->vertices().begin(), e->vertices().end(),
              std::inserter(vertexPointer, vertexPointer.begin()));
    if (vertexPointer.size() != e->vertices().size()) return false;
  }
 
  std::pair<EdgeSet::iterator, bool> result = _edges.insert(e);
  if (!result.second) return false;
 
  for (Vertex* v : e->vertices()) {  // connect the vertices to this edge
    v->edges().insert(e);
  }
 
  return true;
}

References _edges, and g2o::HyperGraph::Edge::vertices().

Referenced by g2o::OptimizableGraph::addEdge().

◆ addVertex()

bool g2o::HyperGraph::addVertex ( Vertex * v )

virtual

adds a vertex to the graph. The id of the vertex should be set before invoking this function. the function fails if another vertex with the same id is already in the graph. returns true, on success, or false on failure.

Reimplemented in g2o::OptimizableGraph.

Definition at line 75 of file hyper_graph.cpp.

                                    {
  auto result = _vertices.insert(std::make_pair(v->id(), v));
  return result.second;
}

References _vertices, and g2o::HyperGraph::Vertex::id().

Referenced by g2o::OptimizableGraph::addVertex().

◆ changeId()

bool g2o::HyperGraph::changeId	(	Vertex *	v,
		int	newId
	)

virtual

changes the id of a vertex already in the graph, and updates the bookkeeping @ returns false if the vertex is not in the graph;

Definition at line 84 of file hyper_graph.cpp.

                                              {
  Vertex* v2 = vertex(v->id());
  if (v != v2) return false;
  _vertices.erase(v->id());
  v->setId(newId);
  _vertices.insert(std::make_pair(v->id(), v));
  return true;
}

References _vertices, g2o::HyperGraph::Vertex::id(), g2o::HyperGraph::Vertex::setId(), and vertex().

◆ clear()

void g2o::HyperGraph::clear ( )

virtual

clears the graph and empties all structures.

Reimplemented in g2o::SparseOptimizer.

Definition at line 206 of file hyper_graph.cpp.

                       {
#if G2O_DELETE_IMPLICITLY_OWNED_OBJECTS
  for (VertexIDMap::iterator it = _vertices.begin(); it != _vertices.end();
       ++it)
    delete (it->second);
  for (EdgeSet::iterator it = _edges.begin(); it != _edges.end(); ++it)
    delete (*it);
#endif
 
  _vertices.clear();
  _edges.clear();
}

References _edges, and _vertices.

Referenced by g2o::SparseOptimizer::clear(), g2o::OptimizableGraph::clearParameters(), ~HyperGraph(), and g2o::OptimizableGraph::~OptimizableGraph().

◆ detachVertex()

bool g2o::HyperGraph::detachVertex ( Vertex * v )

virtual

detaches a vertex from all connected edges

Definition at line 152 of file hyper_graph.cpp.

                                       {
  VertexIDMap::iterator it = _vertices.find(v->id());
  if (it == _vertices.end()) return false;
  assert(it->second == v);
  EdgeSet tmp(v->edges());
  for (EdgeSet::iterator it = tmp.begin(); it != tmp.end(); ++it) {
    HyperGraph::Edge* e = *it;
    for (size_t i = 0; i < e->vertices().size(); i++) {
      if (v == e->vertex(i)) setEdgeVertex(e, i, 0);
    }
  }
  return true;
}

References _vertices, g2o::HyperGraph::Vertex::edges(), g2o::HyperGraph::Vertex::id(), setEdgeVertex(), g2o::HyperGraph::Edge::vertex(), and g2o::HyperGraph::Edge::vertices().

Referenced by removeVertex().

◆ edges() [1/2]

EdgeSet & g2o::HyperGraph::edges ( )

inline

Returns: the set of edges of the hyper graph

Definition at line 255 of file hyper_graph.h.

255{ return _edges; }

◆ edges() [2/2]

const EdgeSet & g2o::HyperGraph::edges ( ) const

inline

Returns: the set of edges of the hyper graph

Definition at line 253 of file hyper_graph.h.

253{ return _edges; }

Referenced by g2o::G2oSlamInterface::addEdge(), g2o::addOdometryCalibLinksDifferential(), g2o::applyAction(), g2o::OptimizableGraph::chi2(), g2o::dumpEdges(), g2o::SparseOptimizerOnline::gnuplotVisualization(), g2o::BackBoneTreeAction::init(), g2o::SparseOptimizer::initializeOptimization(), main(), main(), g2o::saveGnuplot(), MainWindow::setRobustKernel(), g2o::JacobianWorkspace::updateSize(), g2o::OptimizableGraph::verifyInformationMatrices(), and g2o::Gm2dlIO::writeGm2dl().

◆ mergeVertices()

bool g2o::HyperGraph::mergeVertices	(	Vertex *	vBig,
		Vertex *	vSmall,
		bool	erase
	)

virtual

merges two (valid) vertices, adjusts the bookkeeping and relabels all edges. the observations of vSmall are retargeted to vBig. If erase = true, vSmall is deleted from the graph repeatedly calls setEdgeVertex(...)

Definition at line 132 of file hyper_graph.cpp.

                                                                       {
  VertexIDMap::iterator it = _vertices.find(vBig->id());
  if (it == _vertices.end()) return false;
 
  it = _vertices.find(vSmall->id());
  if (it == _vertices.end()) return false;
 
  EdgeSet tmp(vSmall->edges());
  bool ok = true;
  for (EdgeSet::iterator it = tmp.begin(); it != tmp.end(); ++it) {
    HyperGraph::Edge* e = *it;
    for (size_t i = 0; i < e->vertices().size(); i++) {
      Vertex* v = e->vertex(i);
      if (v == vSmall) ok &= setEdgeVertex(e, i, vBig);
    }
  }
  if (erase) removeVertex(vSmall);
  return ok;
}

References _vertices, g2o::HyperGraph::Vertex::edges(), g2o::HyperGraph::Vertex::id(), removeVertex(), setEdgeVertex(), g2o::HyperGraph::Edge::vertex(), and g2o::HyperGraph::Edge::vertices().

◆ operator=()

HyperGraph & g2o::HyperGraph::operator= ( const HyperGraph & )

inlineprivate

Definition at line 303 of file hyper_graph.h.

303{ return *this; }

◆ removeEdge()

bool g2o::HyperGraph::removeEdge ( Edge * e )

virtual

removes a vertex from the graph. Returns true on success (edge was present)

Definition at line 188 of file hyper_graph.cpp.

                                   {
  EdgeSet::iterator it = _edges.find(e);
  if (it == _edges.end()) return false;
  _edges.erase(it);
  for (std::vector<Vertex*>::iterator vit = e->vertices().begin();
       vit != e->vertices().end(); ++vit) {
    Vertex* v = *vit;
    if (!v) continue;
    it = v->edges().find(e);
    assert(it != v->edges().end());
    v->edges().erase(it);
  }
  release(e);
  return true;
}

References _edges, g2o::HyperGraph::Vertex::edges(), g2o::release(), and g2o::HyperGraph::Edge::vertices().

Referenced by removeVertex().

◆ removeVertex()

bool g2o::HyperGraph::removeVertex	(	Vertex *	v,
		bool	detach = `false`
	)

virtual

removes a vertex from the graph. Returns true on success (vertex was present)

Reimplemented in g2o::SparseOptimizer.

Definition at line 166 of file hyper_graph.cpp.

                                                    {
  if (detach) {
    bool result = detachVertex(v);
    if (!result) {
      assert(0 && "inconsistency in detaching vertex, ");
    }
  }
  VertexIDMap::iterator it = _vertices.find(v->id());
  if (it == _vertices.end()) return false;
  assert(it->second == v);
  // remove all edges which are entering or leaving v;
  EdgeSet tmp(v->edges());
  for (EdgeSet::iterator it = tmp.begin(); it != tmp.end(); ++it) {
    if (!removeEdge(*it)) {
      assert(0 && "error in erasing vertex");
    }
  }
  _vertices.erase(it);
  release(v);
  return true;
}

References _vertices, detachVertex(), g2o::HyperGraph::Vertex::edges(), g2o::HyperGraph::Vertex::id(), g2o::release(), and removeEdge().

Referenced by mergeVertices(), and g2o::SparseOptimizer::removeVertex().

◆ setEdgeVertex()

bool g2o::HyperGraph::setEdgeVertex	(	HyperGraph::Edge *	e,
		int	pos,
		HyperGraph::Vertex *	v
	)

virtual

Sets the vertex in position "pos" within the edge and keeps the bookkeeping consistent. If v ==0, the vertex is set to "invalid"

Reimplemented in g2o::OptimizableGraph.

Definition at line 123 of file hyper_graph.cpp.

                                                    {
  Vertex* vOld = e->vertex(pos);
  if (vOld) vOld->edges().erase(e);
  e->setVertex(pos, v);
  if (v) v->edges().insert(e);
  return true;
}

References g2o::HyperGraph::Vertex::edges(), g2o::HyperGraph::Edge::setVertex(), and g2o::HyperGraph::Edge::vertex().

Referenced by detachVertex(), mergeVertices(), and g2o::OptimizableGraph::setEdgeVertex().

◆ vertex() [1/2]

HyperGraph::Vertex * g2o::HyperGraph::vertex ( int id )

returns a vertex id in the hyper-graph, or 0 if the vertex id is not present

Definition at line 63 of file hyper_graph.cpp.

                                           {
  VertexIDMap::iterator it = _vertices.find(id);
  if (it == _vertices.end()) return nullptr;
  return it->second;
}

References _vertices.

Referenced by changeId().

◆ vertex() [2/2]

const HyperGraph::Vertex * g2o::HyperGraph::vertex ( int id ) const

returns a vertex id in the hyper-graph, or 0 if the vertex id is not present

Definition at line 69 of file hyper_graph.cpp.

                                                       {
  VertexIDMap::const_iterator it = _vertices.find(id);
  if (it == _vertices.end()) return nullptr;
  return it->second;
}

References _vertices.

◆ vertices() [1/2]

VertexIDMap & g2o::HyperGraph::vertices ( )

inline

Returns: the map id -> vertex where the vertices are stored

Definition at line 250 of file hyper_graph.h.

250{ return _vertices; }

◆ vertices() [2/2]

const VertexIDMap & g2o::HyperGraph::vertices ( ) const

inline

Returns: the map id -> vertex where the vertices are stored

Definition at line 248 of file hyper_graph.h.

248{ return _vertices; }

Referenced by g2o::applyAction(), g2o::SparseOptimizer::computeMarginals(), g2o::OptimizableGraph::dimensions(), g2o::Slam2DViewer::draw(), g2o::EstimatePropagator::EstimatePropagator(), g2o::SparseOptimizer::findGauge(), g2o::SparseOptimizer::gaugeFreedom(), g2o::HyperDijkstra::HyperDijkstra(), g2o::SparseOptimizer::initializeOptimization(), main(), main(), main(), g2o::OptimizableGraph::maxDimension(), g2o::SparseOptimizerIncremental::optimize(), g2o::SparseOptimizerOnline::optimize(), MainWindow::prepare(), g2o::G2oSlamInterface::queryState(), g2o::saveGnuplot(), g2o::SparseOptimizer::setToOrigin(), g2o::G2oSlamInterface::solve(), solveAndPrint(), g2o::SolverSLAM2DLinear::solveOrientation(), updateDisplay(), g2o::Gm2dlIO::updateLaserData(), and g2o::Gm2dlIO::writeGm2dl().

Member Data Documentation

◆ _edges

EdgeSet g2o::HyperGraph::_edges

protected

Definition at line 298 of file hyper_graph.h.

Referenced by addEdge(), clear(), and removeEdge().

◆ _vertices

VertexIDMap g2o::HyperGraph::_vertices

protected

Definition at line 297 of file hyper_graph.h.

Referenced by addVertex(), changeId(), clear(), detachVertex(), g2o::OptimizableGraph::forEachVertex(), g2o::OptimizableGraph::Edge::graph(), g2o::OptimizableGraph::Edge::graph(), mergeVertices(), g2o::HyperGraph::Edge::numUndefinedVertices(), removeVertex(), g2o::HyperGraph::Edge::resize(), vertex(), and vertex().

◆ Data

class G2O_CORE_API g2o::HyperGraph::Data

Definition at line 72 of file hyper_graph.h.

◆ DataContainer

class G2O_CORE_API g2o::HyperGraph::DataContainer

Definition at line 73 of file hyper_graph.h.

◆ Edge

class G2O_CORE_API g2o::HyperGraph::Edge

Definition at line 75 of file hyper_graph.h.

◆ InvalidId

const int g2o::HyperGraph::InvalidId = -2

static

Definition at line 68 of file hyper_graph.h.

◆ UnassignedId

const int g2o::HyperGraph::UnassignedId = -1

static

Definition at line 67 of file hyper_graph.h.

Referenced by g2o::OptimizableGraph::saveEdge().

◆ Vertex

class G2O_CORE_API g2o::HyperGraph::Vertex

Definition at line 74 of file hyper_graph.h.

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

/build/reproducible-path/g2o-0~20230806/g2o/core/hyper_graph.h
/build/reproducible-path/g2o-0~20230806/g2o/core/hyper_graph.cpp

Classes

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Private Member Functions

Detailed Description

Member Typedef Documentation

◆ EdgeSet

◆ GraphElemBitset

◆ VertexContainer

◆ VertexIDMap

◆ VertexSet

Constructor & Destructor Documentation

◆ HyperGraph() [1/2]

◆ ~HyperGraph()

◆ HyperGraph() [2/2]

Member Function Documentation

◆ addEdge()

◆ addVertex()

◆ changeId()

◆ clear()

◆ detachVertex()

◆ edges() [1/2]

◆ edges() [2/2]

◆ mergeVertices()

◆ operator=()

◆ removeEdge()

◆ removeVertex()

◆ setEdgeVertex()

◆ vertex() [1/2]

◆ vertex() [2/2]

◆ vertices() [1/2]

◆ vertices() [2/2]

Member Data Documentation

◆ _edges

◆ _vertices

◆ Data

◆ DataContainer

◆ Edge

◆ InvalidId

◆ UnassignedId

◆ Vertex