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/*
* Copyright (C) 2017 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <iostream>
#include <ignition/math.hh>
int main(int argc, char **argv)
{
// Create a directed graph that is capable of storing integer data in the
// vertices and double data on the edges.
ignition::math::graph::DirectedGraph<int, double> graph(
// Create the vertices, with default data and vertex ids.
{
{"vertex1"}, {"vertex2"}, {"vertex3"}
},
// Create the edges, with default data and weight values.
{
// Edge from vertex 0 to vertex 1. Each number refers to a vertex id.
// Vertex ids start from zero.
{{0, 1}}, {{1, 2}}
});
// Output in DOT graph format.
std::cout << "Graph with default vertex Ids and data, "
<< "and default edge data.\n"
<< graph << std::endl;
// You can assign data to vertices.
ignition::math::graph::DirectedGraph<int, double> graph2(
// Create the vertices, with custom data and default vertex ids.
{
{"vertex1", 1}, {"vertex2", 2}, {"vertex3", 10}
},
// Create the edges, with default data and weight values.
{
// Edge from vertex 0 to vertex 1. Each number refers to a vertex id
// specified above.
{{0, 2}}, {{1, 2}}
});
// Output in DOT graph format.
std::cout << "Graph with default vertex Ids and custom vertex data, "
<< "and default edge data.\n"
<< graph2 << std::endl;
// It's also possible to specify vertex ids.
ignition::math::graph::DirectedGraph<int, double> graph3(
// Create the vertices with custom data and vertex ids.
{
{"vertex1", 1, 2}, {"vertex2", 2, 3}, {"vertex3", 10, 4}
},
// Create the edges, with custom data and default weight values.
{
{{2, 3}, 6.3}, {{3, 4}, 4.2}
});
// Output in DOT graph format.
std::cout << "Graph with custom vertex Ids and data, and custom edge data.\n"
<< graph3 << std::endl;
// Finally, you can also assign weights to the edges.
ignition::math::graph::DirectedGraph<int, double> graph4(
// Create the vertices with custom data and vertex ids.
{
{"vertex1", 1, 2}, {"vertex2", 2, 3}, {"vertex3", 10, 4}
},
// Create the edges, with custom data and default weight values.
{
{{2, 3}, 6.3, 1.1}, {{3, 4}, 4.2, 2.3}
});
// Output in DOT graph format.
std::cout << "Graph with custom vertex Ids and data, "
<< "and custom edge data and weights.\n"
<< graph4 << std::endl;
}
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