#include <backbone_tree_action.h>

Inheritance diagram for g2o::BackBoneTreeAction:

Collaboration diagram for g2o::BackBoneTreeAction:

[legend]

Public Member Functions
	BackBoneTreeAction (SparseOptimizer *optimizer, const std::string &vertexTag, int level, int step)

void	init ()
	initializes the visit and clears the internal structures

VertexStarMap &	vertexStarMap ()
	map vertex->star. Contains the most recent vertex assignment

VertexStarMultimap &	vertexStarMultiMap ()
	multimap vertex->star. Contains all the vertex assignments to all stars

HyperGraph::EdgeSet &	freeEdges ()
	edges that are not yet assigned to any star

virtual double	perform (HyperGraph::Vertex v, HyperGraph::Vertex vParent, HyperGraph::Edge *e, double distance)

Public Member Functions inherited from g2o::HyperDijkstra::TreeAction
virtual double	perform (HyperGraph::Vertex v, HyperGraph::Vertex vParent, HyperGraph::Edge *e)

Protected Member Functions
void	addToMap (Star s, HyperGraph::Vertex v)

Star *	getStar (HyperGraph::Vertex *v)

bool	fillStar (Star s, HyperGraph::Edge e_)
	helper function that adds to a star an edge and all its vertices

Protected Attributes
SparseOptimizer *	_optimizer

std::string	_vertexTag

int	_level

int	_step

VertexStarMap	_vsMap

VertexStarMultimap	_vsMmap

HyperGraph::EdgeSet	_freeEdges

Factory *	_factory

Detailed Description

Dijkstra traversal action that constructs a backbone skeleton on the graph. It assumes that the traversal contains only edges and vertices belonging to classes that can be used to construct a backbone. After a visit is invoked, it returns vector of stars to which the backbone nodes have been assigned

Definition at line 47 of file backbone_tree_action.h.

Constructor & Destructor Documentation

◆ BackBoneTreeAction()

g2o::BackBoneTreeAction::BackBoneTreeAction	(	SparseOptimizer *	optimizer,
		const std::string &	vertexTag,
		int	level,
		int	step
	)

creates a tree action for constructing the backbone

Parameters

optimizer	the optimizer on which the stars are constructed
vertexTag	the tag of the vertices to use as backbone nodes
level	the level of the lowLevelEdges of the stars in the backbone
step	depth in tree after which a new star is initialized

Definition at line 37 of file backbone_tree_action.cpp.

    : _optimizer(optimizer), _vertexTag(vertexTag), _level(level), _step(step) {
  _factory = Factory::instance();
  init();
}

References _factory, init(), and g2o::Factory::instance().

Member Function Documentation

◆ addToMap()

void g2o::BackBoneTreeAction::addToMap	(	Star *	s,
		HyperGraph::Vertex *	v
	)

protected

helper function for adding a vertex to a star. If the vertex is already in _vertexToEdgeMap it replaces the associated star. _vertexStarMultimap is only augmented, thus it contains all associations

Parameters

s	the star
v	the vertex

Definition at line 81 of file backbone_tree_action.cpp.

                                                               {
  OptimizableGraph::Vertex* v = (OptimizableGraph::Vertex*)v_;
  VertexStarMap::iterator it = _vsMap.find(v);
  if (it != _vsMap.end())
    it->second = s;
  else
    _vsMap.insert(make_pair(v, s));
  _vsMmap.insert(make_pair(v, s));
  s->_lowLevelVertices.insert(v);
}

References g2o::Star::_lowLevelVertices, _vsMap, and _vsMmap.

Referenced by perform().

◆ fillStar()

bool g2o::BackBoneTreeAction::fillStar	(	Star *	s,
		HyperGraph::Edge *	e_
	)

protected

helper function that adds to a star an edge and all its vertices

Definition at line 99 of file backbone_tree_action.cpp.

                                                             {
  OptimizableGraph::Edge* e = (OptimizableGraph::Edge*)e_;
  HyperGraph::EdgeSet::iterator it = _freeEdges.find(e);
  if (it != _freeEdges.end()) {
    _freeEdges.erase(it);
    s->_lowLevelEdges.insert(e);
    for (size_t i = 0; i < e->vertices().size(); i++) {
      s->_lowLevelVertices.insert(e->vertices()[i]);
    }
    return true;
  }
  return false;
}

References _freeEdges, g2o::Star::_lowLevelEdges, g2o::Star::_lowLevelVertices, and g2o::HyperGraph::Edge::vertices().

Referenced by perform().

◆ freeEdges()

HyperGraph::EdgeSet & g2o::BackBoneTreeAction::freeEdges ( )

inline

edges that are not yet assigned to any star

Definition at line 66 of file backbone_tree_action.h.

66{ return _freeEdges; }

References _freeEdges.

Referenced by g2o::computeSimpleStars().

◆ getStar()

Star * g2o::BackBoneTreeAction::getStar ( HyperGraph::Vertex * v )

protected

helper function to retrieve the most recent star of a vertex.

Parameters

v	the vertex

Definition at line 92 of file backbone_tree_action.cpp.

                                                      {
  OptimizableGraph::Vertex* v = (OptimizableGraph::Vertex*)v_;
  VertexStarMap::iterator it = _vsMap.find(v);
  if (it == _vsMap.end()) return 0;
  return it->second;
}

References _vsMap.

Referenced by perform().

◆ init()

void g2o::BackBoneTreeAction::init ( )

initializes the visit and clears the internal structures

Definition at line 45 of file backbone_tree_action.cpp.

                              {
  _vsMap.clear();
  _vsMmap.clear();
  _freeEdges.clear();
  for (HyperGraph::EdgeSet::iterator it = _optimizer->edges().begin();
       it != _optimizer->edges().end(); ++it) {
    OptimizableGraph::Edge* e = (OptimizableGraph::Edge*)(*it);
    if (e->level() == _level) {
      _freeEdges.insert(e);
    }
  }
}

References _freeEdges, _level, _optimizer, _vsMap, _vsMmap, g2o::HyperGraph::edges(), and g2o::OptimizableGraph::Edge::level().

Referenced by BackBoneTreeAction(), and g2o::computeSimpleStars().

◆ perform()

double g2o::BackBoneTreeAction::perform	(	HyperGraph::Vertex *	v,
		HyperGraph::Vertex *	vParent,
		HyperGraph::Edge *	e,
		double	distance
	)

virtual

action to be performed during the descent of the dijkstra tree. it constructs stars according to the dijkstra tree A new star is created every time the depth increases of _step.

Parameters

v	the vertex
vParent	the parent vertex
e	the edge between v and its parent
distance	the depth in the tree

Reimplemented from g2o::HyperDijkstra::TreeAction.

Definition at line 58 of file backbone_tree_action.cpp.

                                                                       {
  int depth = (int)distance;
  if (_factory->tag(v) != _vertexTag) return 0;
  Star* parentStar = getStar(vParent);
  if (!parentStar) {
    parentStar = new Star(_level + 1, _optimizer);
    addToMap(parentStar, vParent);
    parentStar->_gauge.insert(vParent);
  }
  addToMap(parentStar, v);
  fillStar(parentStar, e);
 
  // every _step levels you go down in the tree, create a new star
  if (depth && !(depth % _step)) {
    Star* star = new Star(_level + 1, _optimizer);
    addToMap(star, v);
    star->_gauge.insert(v);
  }
  return 1;
}

References _factory, g2o::Star::_gauge, _level, _optimizer, _step, _vertexTag, addToMap(), fillStar(), getStar(), and g2o::Factory::tag().

◆ vertexStarMap()

VertexStarMap & g2o::BackBoneTreeAction::vertexStarMap ( )

inline

map vertex->star. Contains the most recent vertex assignment

Definition at line 62 of file backbone_tree_action.h.

62{ return _vsMap; }

References _vsMap.

◆ vertexStarMultiMap()

VertexStarMultimap & g2o::BackBoneTreeAction::vertexStarMultiMap ( )

inline

multimap vertex->star. Contains all the vertex assignments to all stars

Definition at line 64 of file backbone_tree_action.h.

64{ return _vsMmap; }

References _vsMmap.

Referenced by g2o::computeSimpleStars().

Member Data Documentation

◆ _factory

Factory* g2o::BackBoneTreeAction::_factory

protected

Definition at line 104 of file backbone_tree_action.h.

Referenced by BackBoneTreeAction(), and perform().

◆ _freeEdges

HyperGraph::EdgeSet g2o::BackBoneTreeAction::_freeEdges

protected

Definition at line 103 of file backbone_tree_action.h.

Referenced by fillStar(), freeEdges(), and init().

◆ _level

int g2o::BackBoneTreeAction::_level

protected

Definition at line 98 of file backbone_tree_action.h.

Referenced by init(), and perform().

◆ _optimizer

SparseOptimizer* g2o::BackBoneTreeAction::_optimizer

protected

Definition at line 96 of file backbone_tree_action.h.

Referenced by init(), and perform().

◆ _step

int g2o::BackBoneTreeAction::_step

protected

Definition at line 99 of file backbone_tree_action.h.

Referenced by perform().

◆ _vertexTag

std::string g2o::BackBoneTreeAction::_vertexTag

protected

Definition at line 97 of file backbone_tree_action.h.

Referenced by perform().

◆ _vsMap

VertexStarMap g2o::BackBoneTreeAction::_vsMap

protected

Definition at line 101 of file backbone_tree_action.h.

Referenced by addToMap(), getStar(), init(), and vertexStarMap().

◆ _vsMmap

VertexStarMultimap g2o::BackBoneTreeAction::_vsMmap

protected

Definition at line 102 of file backbone_tree_action.h.

Referenced by addToMap(), init(), and vertexStarMultiMap().

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

/build/reproducible-path/g2o-0~20230806/g2o/examples/g2o_hierarchical/backbone_tree_action.h
/build/reproducible-path/g2o-0~20230806/g2o/examples/g2o_hierarchical/backbone_tree_action.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BackBoneTreeAction()

Member Function Documentation

◆ addToMap()

◆ fillStar()

◆ freeEdges()

◆ getStar()

◆ init()

◆ perform()

◆ vertexStarMap()

◆ vertexStarMultiMap()

Member Data Documentation

◆ _factory

◆ _freeEdges

◆ _level

◆ _optimizer

◆ _step

◆ _vertexTag

◆ _vsMap

◆ _vsMmap