hyper_graph.h

Go to the documentation of this file.

// 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.
 
#ifndef G2O_AIS_HYPER_GRAPH_HH
#define G2O_AIS_HYPER_GRAPH_HH
 
#include <bitset>
#include <cassert>
#include <cstddef>
#include <set>
#include <unordered_map>
#include <vector>
 
#include "g2o_core_api.h"
 
namespace g2o {
 
class G2O_CORE_API HyperGraph {
 public:
  enum G2O_CORE_API HyperGraphElementType {
    HGET_VERTEX,
    HGET_EDGE,
    HGET_PARAMETER,
    HGET_CACHE,
    HGET_DATA,
    HGET_NUM_ELEMS  // keep as last elem
  };
 
  static const int UnassignedId = -1;
  static const int InvalidId = -2;
 
  typedef std::bitset<HyperGraph::HGET_NUM_ELEMS> GraphElemBitset;
 
  class G2O_CORE_API Data;
  class G2O_CORE_API DataContainer;
  class G2O_CORE_API Vertex;
  class G2O_CORE_API Edge;
 
  struct G2O_CORE_API HyperGraphElement {
    virtual ~HyperGraphElement() {}
    virtual HyperGraphElementType elementType() const = 0;
  };
 
  class G2O_CORE_API Data : public HyperGraph::HyperGraphElement {
   public:
    Data();
    ~Data();
    virtual bool read(std::istream& is) = 0;
    virtual bool write(std::ostream& os) const = 0;
    virtual HyperGraph::HyperGraphElementType elementType() const {
      return HyperGraph::HGET_DATA;
    }
    inline const Data* next() const { return _next; }
    inline Data* next() { return _next; }
    inline void setNext(Data* next_) { _next = next_; }
    inline DataContainer* dataContainer() { return _dataContainer; }
    inline const DataContainer* dataContainer() const { return _dataContainer; }
    inline void setDataContainer(DataContainer* dataContainer_) {
      _dataContainer = dataContainer_;
    }
 
   protected:
    Data* _next;  // linked list of multiple data;
    DataContainer* _dataContainer;
  };
 
  class G2O_CORE_API DataContainer {
   public:
    DataContainer() { _userData = 0; }
    virtual ~DataContainer() { delete _userData; }
    const Data* userData() const { return _userData; }
    Data* userData() { return _userData; }
    void setUserData(Data* obs) { _userData = obs; }
    void addUserData(Data* obs) {
      if (obs) {
        obs->setNext(_userData);
        _userData = obs;
      }
    }
 
   protected:
    Data* _userData;
  };
 
  typedef std::set<Edge*> EdgeSet;
  typedef std::set<Vertex*> VertexSet;
 
  typedef std::unordered_map<int, Vertex*> VertexIDMap;
  typedef std::vector<Vertex*> VertexContainer;
 
  class G2O_CORE_API Vertex : public HyperGraphElement {
   public:
    explicit Vertex(int id = InvalidId);
    virtual ~Vertex();
    int id() const { return _id; }
    virtual void setId(int newId) { _id = newId; }
    const EdgeSet& edges() const { return _edges; }
    EdgeSet& edges() { return _edges; }
    virtual HyperGraphElementType elementType() const { return HGET_VERTEX; }
 
   protected:
    int _id;
    EdgeSet _edges;
  };
 
  class G2O_CORE_API Edge : public HyperGraphElement {
   public:
    explicit Edge(int id = InvalidId);
    virtual ~Edge();
 
    virtual void resize(size_t size);
    const VertexContainer& vertices() const { return _vertices; }
    VertexContainer& vertices() { return _vertices; }
    const Vertex* vertex(size_t i) const {
      assert(i < _vertices.size() && "index out of bounds");
      return _vertices[i];
    }
    Vertex* vertex(size_t i) {
      assert(i < _vertices.size() && "index out of bounds");
      return _vertices[i];
    }
    void setVertex(size_t i, Vertex* v) {
      assert(i < _vertices.size() && "index out of bounds");
      _vertices[i] = v;
    }
 
    int id() const { return _id; }
    void setId(int id);
    virtual HyperGraphElementType elementType() const { return HGET_EDGE; }
 
    int numUndefinedVertices() const;
 
   protected:
    VertexContainer _vertices;
    int _id;  
  };
 
 public:
  HyperGraph();
  virtual ~HyperGraph();
 
  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();
 
  const VertexIDMap& vertices() const { return _vertices; }
  VertexIDMap& vertices() { return _vertices; }
 
  const EdgeSet& edges() const { return _edges; }
  EdgeSet& edges() { return _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);
 
 protected:
  VertexIDMap _vertices;
  EdgeSet _edges;
 
 private:
  // Disable the copy constructor and assignment operator
  HyperGraph(const HyperGraph&) {}
  HyperGraph& operator=(const HyperGraph&) { return *this; }
};
 
}  // namespace g2o
 
 
#endif