hyper_graph.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// 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.
//
// 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
// HOLDER 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.
 
#include "hyper_graph.h"
 
#include <algorithm>
#include <cassert>
#include <iterator>
#include <queue>
#include <unordered_set>
 
#include "ownership.h"
 
namespace g2o {
 
HyperGraph::Data::Data() {
  _next = 0;
  _dataContainer = 0;
}
 
HyperGraph::Data::~Data() { delete _next; }
 
HyperGraph::Vertex::Vertex(int id) : _id(id) {}
 
HyperGraph::Vertex::~Vertex() {}
 
HyperGraph::Edge::Edge(int id) : _id(id) {}
 
HyperGraph::Edge::~Edge() {}
 
int HyperGraph::Edge::numUndefinedVertices() const {
  return std::count_if(_vertices.begin(), _vertices.end(),
                       [](const Vertex* ptr) { return ptr == nullptr; });
}
 
void HyperGraph::Edge::resize(size_t size) { _vertices.resize(size, 0); }
 
void HyperGraph::Edge::setId(int id) { _id = id; }
 
HyperGraph::Vertex* HyperGraph::vertex(int id) {
  VertexIDMap::iterator it = _vertices.find(id);
  if (it == _vertices.end()) return nullptr;
  return it->second;
}
 
const HyperGraph::Vertex* HyperGraph::vertex(int id) const {
  VertexIDMap::const_iterator it = _vertices.find(id);
  if (it == _vertices.end()) return nullptr;
  return it->second;
}
 
bool HyperGraph::addVertex(Vertex* v) {
  auto result = _vertices.insert(std::make_pair(v->id(), v));
  return result.second;
}
 
bool HyperGraph::changeId(Vertex* v, int newId) {
  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;
}
 
bool HyperGraph::addEdge(Edge* e) {
  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;
}
 
bool HyperGraph::setEdgeVertex(HyperGraph::Edge* e, int pos,
                               HyperGraph::Vertex* v) {
  Vertex* vOld = e->vertex(pos);
  if (vOld) vOld->edges().erase(e);
  e->setVertex(pos, v);
  if (v) v->edges().insert(e);
  return true;
}
 
bool HyperGraph::mergeVertices(Vertex* vBig, Vertex* vSmall, bool erase) {
  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;
}
 
bool HyperGraph::detachVertex(Vertex* v) {
  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;
}
 
bool HyperGraph::removeVertex(Vertex* v, bool detach) {
  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;
}
 
bool HyperGraph::removeEdge(Edge* e) {
  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;
}
 
HyperGraph::HyperGraph() {}
 
void HyperGraph::clear() {
#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();
}
 
HyperGraph::~HyperGraph() { HyperGraph::clear(); }
 
}  // namespace g2o