Gazebo Math

API Reference

7.5.1
gz/math/graph/Vertex.hh
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1 /*
2  * Copyright (C) 2017 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef GZ_MATH_GRAPH_VERTEX_HH_
18 #define GZ_MATH_GRAPH_VERTEX_HH_
19 
20 // uint64_t
21 #include <cstdint>
22 #include <functional>
23 #include <map>
24 #include <ostream>
25 #include <string>
26 #include <utility>
27 
28 #include <gz/math/config.hh>
29 #include <gz/math/Helpers.hh>
30 
31 namespace gz::math
32 {
33 // Inline bracket to help doxygen filtering.
34 inline namespace GZ_MATH_VERSION_NAMESPACE {
35 namespace graph
36 {
39  using VertexId = uint64_t;
40 
44 
46  static const VertexId kNullId = MAX_UI64;
47 
51  template<typename V>
52  class Vertex
53  {
55  public: static Vertex<V> NullVertex;
56 
61  // cppcheck-suppress noExplicitConstructor
62  public: Vertex(const std::string &_name,
63  const V &_data = V(),
64  const VertexId _id = kNullId)
65  : name(_name),
66  data(_data),
67  id(_id)
68  {
69  }
70 
73  public: const V &Data() const
74  {
75  return this->data;
76  }
77 
80  public: V &Data()
81  {
82  return this->data;
83  }
84 
87  public: VertexId Id() const
88  {
89  return this->id;
90  }
91 
94  public: const std::string &Name() const
95  {
96  return this->name;
97  }
98 
101  public: void SetName(const std::string &_name)
102  {
103  this->name = _name;
104  }
105 
108  public: bool Valid() const
109  {
110  return this->id != kNullId;
111  }
112 
118  public: friend std::ostream &operator<<(std::ostream &_out,
119  const Vertex<V> &_v)
120  {
121  _out << " " << _v.Id() << " [label=\"" << _v.Name()
122  << " (" << _v.Id() << ")\"];" << std::endl;
123  return _out;
124  }
125 
127  private: std::string name = "";
128 
130  private: V data;
131 
133  private: VertexId id = kNullId;
134  };
135 
137  template<typename V>
138  Vertex<V> Vertex<V>::NullVertex("__null__", V(), kNullId);
139 
143  template<typename V>
144  using VertexRef_M =
146 } // namespace graph
147 } // namespace GZ_MATH_VERSION_NAMESPACE
148 } // namespace gz::math
149 #endif // GZ_MATH_GRAPH_VERTEX_HH_
RAPH_VERTEX_HH_