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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.
*
*/
#ifndef IGNITION_MATH_GRAPH_VERTEX_HH_
#define IGNITION_MATH_GRAPH_VERTEX_HH_
// uint64_t
#include <cstdint>
#include <functional>
#include <iostream>
#include <map>
#include <string>
#include <utility>
#include <ignition/math/config.hh>
#include <ignition/math/Helpers.hh>
namespace ignition
{
namespace math
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_MATH_VERSION_NAMESPACE {
namespace graph
{
/// \typedef VertexId.
/// \brief The unique Id of each vertex.
using VertexId = uint64_t;
/// \def VertexId_P
/// \brief A pair of two vertex Ids.
using VertexId_P = std::pair<VertexId, VertexId>;
/// \brief Represents an invalid Id.
static const VertexId kNullId = MAX_UI64;
/// \brief A vertex of a graph. It stores user information, an optional name,
/// and keeps an internal unique Id. This class does not enforce to choose a
/// unique name.
template<typename V>
class Vertex
{
/// \brief An invalid vertex.
public: static Vertex<V> NullVertex;
/// \brief Constructor.
/// \param[in] _name Non-unique vertex name.
/// \param[in] _data User information.
/// \param[in] _id Optional unique id.
public: Vertex(const std::string &_name,
const V &_data = V(),
const VertexId _id = kNullId)
: name(_name),
data(_data),
id(_id)
{
}
/// \brief Retrieve the user information.
/// \return Reference to the user information.
public: const V &Data() const
{
return this->data;
}
/// \brief Get a mutable reference to the user information.
/// \return Mutable reference to the user information.
public: V &Data()
{
return this->data;
}
/// \brief Get the vertex Id.
/// \return The vertex Id.
public: VertexId Id() const
{
return this->id;
}
/// \brief Get the vertex name.
/// \return The vertex name.
public: const std::string &Name() const
{
return this->name;
}
/// \brief Set the vertex name.
/// \param[in] _name The vertex name.
public: void SetName(const std::string &_name)
{
this->name = _name;
}
/// \brief Whether the vertex is considered valid or not (id==kNullId).
/// \return True when the vertex is valid or false otherwise (id==kNullId)
public: bool Valid() const
{
return this->id != kNullId;
}
/// \brief Stream insertion operator. The output uses DOT graph
/// description language.
/// \param[out] _out The output stream.
/// \param[in] _v Vertex to write to the stream.
/// \sa https://en.wikipedia.org/wiki/DOT_(graph_description_language).
public: friend std::ostream &operator<<(std::ostream &_out,
const Vertex<V> &_v)
{
_out << " " << _v.Id() << " [label=\"" << _v.Name()
<< " (" << _v.Id() << ")\"];" << std::endl;
return _out;
}
/// \brief Non-unique vertex name.
private: std::string name = "";
/// \brief User information.
private: V data;
/// \brief Unique vertex Id.
private: VertexId id = kNullId;
};
/// \brief An invalid vertex.
template<typename V>
Vertex<V> Vertex<V>::NullVertex("__null__", V(), kNullId);
/// \def VertexRef_M
/// \brief Map of vertices. The key is the vertex Id. The value is a
/// reference to the vertex.
template<typename V>
using VertexRef_M =
std::map<VertexId, std::reference_wrapper<const Vertex<V>>>;
}
}
}
}
#endif
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