Vertex.hh

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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 GZ_MATH_GRAPH_VERTEX_HH_
#define GZ_MATH_GRAPH_VERTEX_HH_
 
// uint64_t
#include <cstdint>
#include <functional>
#include <map>
#include <ostream>
#include <string>
#include <utility>
 
#include <gz/math/config.hh>
#include <gz/math/Helpers.hh>
#include <gz/utils/NeverDestroyed.hh>
 
namespace gz::math
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_MATH_VERSION_NAMESPACE {
namespace graph
{
  using VertexId = uint64_t;
 
  using VertexId_P = std::pair<VertexId, VertexId>;
 
  constexpr VertexId kNullId = MAX_UI64;
 
  template<typename V>
  class Vertex
  {
    // cppcheck-suppress noExplicitConstructor
    public: Vertex(const std::string &_name,
                   const V &_data = V(),
                   const VertexId _id = kNullId)
      : name(_name),
        data(_data),
        id(_id)
    {
    }
 
    public: const V &Data() const
    {
      return this->data;
    }
 
    public: V &Data()
    {
      return this->data;
    }
 
    public: VertexId Id() const
    {
      return this->id;
    }
 
    public: const std::string &Name() const
    {
      return this->name;
    }
 
    public: void SetName(const std::string &_name)
    {
      this->name = _name;
    }
 
    public: bool Valid() const
    {
      return this->id != kNullId;
    }
 
    public: friend std::ostream &operator<<(std::ostream &_out,
                                            const Vertex<V> &_v)
    {
      _out << "  " << _v.Id() << " [label=\"" << _v.Name()
           << " (" << _v.Id() << ")\"];" << std::endl;
      return _out;
    }
 
    private: std::string name = "";
 
    private: V data;
 
    private: VertexId id = kNullId;
  };
 
  template<typename V>
  Vertex<V> &NullVertex()
  {
    static gz::utils::NeverDestroyed<Vertex<V>> v("__null__", V(), kNullId);
    return v.Access();
  }
 
  template<typename V>
  using VertexRef_M =
    std::map<VertexId, std::reference_wrapper<const Vertex<V>>>;
}  // namespace graph
}  // namespace GZ_MATH_VERSION_NAMESPACE
}  // namespace gz::math
#endif  // GZ_MATH_GRAPH_VERTEX_HH_