Gazebo Math
API Reference
8.1.0
insert_drive_file
Tutorials
library_books
Classes
toc
Namespaces
insert_drive_file
Files
launch
Gazebo Website
Index
List
Hierarchy
Members: All
Members: Functions
Members: Variables
Members: Typedefs
Members: Enumerations
Members: Enumerator
List
Members
Functions
Typedefs
Variables
Enumerations
Enumerator
src
gz-math
include
gz
math
graph
Vertex.hh
Go to the documentation of this file.
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
#include <gz/utils/NeverDestroyed.hh>
31
32
namespace
gz::math
33
{
34
// Inline bracket to help doxygen filtering.
35
inline
namespace
GZ_MATH_VERSION_NAMESPACE {
36
namespace
graph
37
{
40
using
VertexId
= uint64_t;
41
44
using
VertexId_P
=
std::pair<VertexId, VertexId>
;
45
47
constexpr
VertexId
kNullId
= MAX_UI64;
48
52
template
<
typename
V>
53
class
Vertex
54
{
56
// Deprecated in favor of NullVertex().
57
public
:
static
Vertex<V>
GZ_DEPRECATED
(8) NullVertex;
58
63
// cppcheck-suppress noExplicitConstructor
64
public
:
Vertex
(
const
std
::
string
&
_name
,
65
const
V
&
_data
=
V
(),
66
const
VertexId
_id
= kNullId)
67
: name(
_name
),
68
data(
_data
),
69
id
(
_id
)
70
{
71
}
72
75
public
:
const
V
&
Data
()
const
76
{
77
return
this->data;
78
}
79
82
public
:
V
&
Data
()
83
{
84
return
this->data;
85
}
86
89
public
:
VertexId
Id
()
const
90
{
91
return
this->id;
92
}
93
96
public
:
const
std::string
&
Name
()
const
97
{
98
return
this->name;
99
}
100
103
public
:
void
SetName
(
const
std::string
&
_name
)
104
{
105
this->name =
_name
;
106
}
107
110
public
:
bool
Valid
()
const
111
{
112
return
this->
id
!= kNullId;
113
}
114
120
public
:
friend
std::ostream
&
operator<<
(
std::ostream
&
_out
,
121
const
Vertex<V>
&
_v
)
122
{
123
_out
<<
" "
<<
_v
.Id() <<
" [label=\""
<<
_v
.Name()
124
<<
" ("
<<
_v
.Id() <<
")\"];"
<<
std::endl
;
125
return
_out
;
126
}
127
129
private
:
std::string
name =
""
;
130
132
private
:
V
data;
133
135
private
:
VertexId
id
=
kNullId
;
136
};
137
139
// Deprecated in favor of NullVertex().
140
template
<
typename
V>
141
Vertex<V>
Vertex<V>::NullVertex(
"__null__"
,
V
(), kNullId);
142
144
template
<
typename
V>
145
Vertex<V>
&
NullVertex
()
146
{
147
static
gz::utils::NeverDestroyed<Vertex<V>>
v
(
"__null__"
,
V
(),
kNullId
);
148
return
v
.Access();
149
}
150
154
template
<
typename
V>
155
using
VertexRef_M
=
156
std::map<VertexId, std::reference_wrapper<const Vertex<V>
>>;
157
}
// namespace graph
158
}
// namespace GZ_MATH_VERSION_NAMESPACE
159
}
// namespace gz::math
160
#endif
// GZ_MATH_GRAPH_VERTEX_HH_