#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 More...

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

Vertex *	vertex (int id)
	returns a vertex id in the hyper-graph, or 0 if the vertex id is not present More...

const Vertex *	vertex (int id) const
	returns a vertex id in the hyper-graph, or 0 if the vertex id is not present More...

virtual bool	removeVertex (Vertex *v, bool detach=false)
	removes a vertex from the graph. Returns true on success (vertex was present) More...

virtual bool	removeEdge (Edge *e)
	removes a vertex from the graph. Returns true on success (edge was present) More...

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

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 hyoper 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 55 of file hyper_graph.h.

Member Typedef Documentation

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

Definition at line 135 of file hyper_graph.h.

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

Definition at line 74 of file hyper_graph.h.

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

Definition at line 139 of file hyper_graph.h.

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

Definition at line 138 of file hyper_graph.h.

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

Definition at line 136 of file hyper_graph.h.

Constructor & Destructor Documentation

g2o::HyperGraph::HyperGraph ( )

constructs an empty hyper graph

Definition at line 225 of file hyper_graph.cpp.

226 {

227 }

g2o::HyperGraph::~HyperGraph ( )

virtual

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

Definition at line 239 of file hyper_graph.cpp.

References clear().

   {
     clear();
   }

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

inlineprivate

Definition at line 279 of file hyper_graph.h.

279 { }

Member Function Documentation

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 117 of file hyper_graph.cpp.

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

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

   {
     std::pair<EdgeSet::iterator, bool> result = _edges.insert(e);
     if (! result.second)
       return false;
     for (std::vector<Vertex*>::iterator it = e->vertices().begin(); it != e->vertices().end(); ++it) {
       Vertex* v = *it;
       if (v)
         v->edges().insert(e);
     }
     return true;
   }

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 94 of file hyper_graph.cpp.

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

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

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

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 107 of file hyper_graph.cpp.

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

                                                {
     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;
   }

void g2o::HyperGraph::clear ( )

virtual

clears the graph and empties all structures.

Reimplemented in g2o::SparseOptimizer.

Definition at line 229 of file hyper_graph.cpp.

References _edges, and g2o::HyperGraph::Edge::_vertices.

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

   {
     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);
     _vertices.clear();
     _edges.clear();
   }

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

virtual

detaches a vertex from all connected edges

Definition at line 166 of file hyper_graph.cpp.

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

Referenced by removeVertex().

                                         {
     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;
   }

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

inline

Returns: the set of edges of the hyper graph

Definition at line 230 of file hyper_graph.h.

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

230 {return _edges;}

g2o::HyperGraph::_edges

EdgeSet _edges

Definition: hyper_graph.h:275

EdgeSet& g2o::HyperGraph::edges ( )

inline

Returns: the set of edges of the hyper graph

Definition at line 232 of file hyper_graph.h.

232 {return _edges;}

g2o::HyperGraph::_edges

EdgeSet _edges

Definition: hyper_graph.h:275

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 141 of file hyper_graph.cpp.

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

   {
     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;
   }

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

inlineprivate

Definition at line 280 of file hyper_graph.h.

280 { return *this; }

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

virtual

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

Definition at line 206 of file hyper_graph.cpp.

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

Referenced by removeVertex().

   {
     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);
     }
 
     delete e;
     return true;
   }

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 182 of file hyper_graph.cpp.

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

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

   {
     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);
     delete v;
     return true;
   }

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

virtual

Sets the vertex un 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 130 of file hyper_graph.cpp.

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

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

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

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 78 of file hyper_graph.cpp.

References g2o::HyperGraph::Edge::_vertices.

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

   {
     VertexIDMap::iterator it=_vertices.find(id);
     if (it==_vertices.end())
       return 0;
     return it->second;
   }

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 86 of file hyper_graph.cpp.

References g2o::HyperGraph::Edge::_vertices.

   {
     VertexIDMap::const_iterator it=_vertices.find(id);
     if (it==_vertices.end())
       return 0;
     return it->second;
   }

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

inline

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

Definition at line 225 of file hyper_graph.h.

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

225 {return _vertices;}

g2o::HyperGraph::_vertices

VertexIDMap _vertices

Definition: hyper_graph.h:274

VertexIDMap& g2o::HyperGraph::vertices ( )

inline

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

Definition at line 227 of file hyper_graph.h.

227 {return _vertices;}

g2o::HyperGraph::_vertices

VertexIDMap _vertices

Definition: hyper_graph.h:274

Member Data Documentation

EdgeSet g2o::HyperGraph::_edges

protected

Definition at line 275 of file hyper_graph.h.

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

VertexIDMap g2o::HyperGraph::_vertices

protected

Definition at line 274 of file hyper_graph.h.

class G2O_CORE_API g2o::HyperGraph::Data

Definition at line 76 of file hyper_graph.h.

class G2O_CORE_API g2o::HyperGraph::DataContainer

Definition at line 77 of file hyper_graph.h.

class G2O_CORE_API g2o::HyperGraph::Edge

Definition at line 79 of file hyper_graph.h.

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

static

Definition at line 72 of file hyper_graph.h.

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

static

Definition at line 71 of file hyper_graph.h.

Referenced by g2o::OptimizableGraph::saveEdge(), and g2o::OptimizableGraph::setFixed().

class G2O_CORE_API g2o::HyperGraph::Vertex

Definition at line 78 of file hyper_graph.h.

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

/home/xuezhisd/CLionProjects/g2o/g2o/core/hyper_graph.h
/home/xuezhisd/CLionProjects/g2o/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

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation