Gazebo Math

API Reference

7.5.1
Edge< E > Class Template Referenceabstract

Generic edge class. An edge has two ends and some constraint between them. For example, a directed edge only allows traversing the edge in one direction. More...

#include <Edge.hh>

Public Member Functions

 Edge (const VertexId_P &_vertices, const E &_data, const double _weight, const EdgeId &_id=kNullId)
 Constructor. More...
 
E & Data ()
 Get a mutable reference to the user data stored in the edge. More...
 
const E & Data () const
 Get a non-mutable reference to the user data stored in the edge. More...
 
virtual VertexId From (const VertexId &_from) const =0
 Get the destination end that is reachable from a source end of an edge. More...
 
EdgeId Id () const
 Get the edge Id. More...
 
void SetWeight (double _newWeight)
 Set the cost of the edge. More...
 
virtual VertexId To (const VertexId &_to) const =0
 Get the source end that can reach the destination end of an edge. More...
 
bool Valid () const
 An edge is considered valid when its id is not kNullId. More...
 
VertexId_P Vertices () const
 Get the two vertices contained in the edge. More...
 
double Weight () const
 The cost of traversing the _from end to the other end of the edge. More...
 

Detailed Description

template<typename E>
class gz::math::graph::Edge< E >

Generic edge class. An edge has two ends and some constraint between them. For example, a directed edge only allows traversing the edge in one direction.

Constructor & Destructor Documentation

◆ Edge()

Edge ( const VertexId_P _vertices,
const E &  _data,
const double  _weight,
const EdgeId _id = kNullId 
)
inlineexplicit

Constructor.

Parameters
[in]_verticesThe vertices of the edge.
[in]_dataThe data stored in the edge.
[in]_weightThe weight (cost) of the edge.
[in]_idOptional unique id.

Member Function Documentation

◆ Data() [1/2]

E& Data ( )
inline

Get a mutable reference to the user data stored in the edge.

Returns
The mutable reference to the user data stored in the edge.

◆ Data() [2/2]

const E& Data ( ) const
inline

Get a non-mutable reference to the user data stored in the edge.

Returns
The non-mutable reference to the user data stored in the edge.

◆ From()

virtual VertexId From ( const VertexId _from) const
pure virtual

Get the destination end that is reachable from a source end of an edge.

E.g.: Let's assume that we have an undirected edge (e1) with ends (v1) and (v2): (v1)–(v2). The operation e1.From(v1) returns (v2). The operation e1.From(v2) returns (v1).

E.g.: Let's assume that we have a directed edge (e2) with the tail end (v1) and the head end (v2): (v1)->(v2). The operation e2.From(v1) returns (v2). The operation e2.From(v2) returns kNullId.

Parameters
[in]_fromSource vertex.
Returns
The other vertex of the edge reachable from the "_from" vertex or kNullId otherwise.

Implemented in DirectedEdge< E >, and UndirectedEdge< E >.

◆ Id()

EdgeId Id ( ) const
inline

Get the edge Id.

Returns
The edge Id.

◆ SetWeight()

void SetWeight ( double  _newWeight)
inline

Set the cost of the edge.

Parameters
[in]_newWeightThe new cost.

◆ To()

virtual VertexId To ( const VertexId _to) const
pure virtual

Get the source end that can reach the destination end of an edge.

E.g.: Let's assume that we have an undirected edge (e1) with ends (v1) and (v2): (v1)–(v2). The operation e1.To(v1) returns (v2). The operation e1.To(v2) returns (v1).

E.g.: Let's assume that we have a directed edge (e2) with the tail end (v1) and the head end (v2): (v1)->(v2). The operation e2.To(v1) returns kNullId. The operation e2.To(v2) returns v1.

Parameters
[in]_toDestination vertex.
Returns
The other vertex of the edge that can reach "_to" vertex or kNullId otherwise.

Implemented in DirectedEdge< E >, and UndirectedEdge< E >.

◆ Valid()

bool Valid ( ) const
inline

An edge is considered valid when its id is not kNullId.

Returns
Whether the edge is valid or not.

References gz::math::graph::kNullId.

Referenced by UndirectedEdge< E >::From(), and Edge< E >::Vertices().

◆ Vertices()

VertexId_P Vertices ( ) const
inline

Get the two vertices contained in the edge.

Returns
The two vertices contained in the edge.

References gz::math::graph::kNullId, and Edge< E >::Valid().

Referenced by UndirectedEdge< E >::From(), DirectedEdge< E >::Head(), and DirectedEdge< E >::Tail().

◆ Weight()

double Weight ( ) const
inline

The cost of traversing the _from end to the other end of the edge.

Returns
The cost.

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