point_cloud_graph_concept.h

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#ifndef PCL_GRAPH_POINT_CLOUD_GRAPH_CONCEPT_H
#define PCL_GRAPH_POINT_CLOUD_GRAPH_CONCEPT_H
 
#include <boost/concept/detail/concept_def.hpp>
#include <boost/graph/graph_concepts.hpp>
 
namespace pcl::graph::concepts
{
 
    /** \class pcl::graph::concepts::PointCloudGraphConcept
      *
      * A PointCloudGraph is a graph that has PCL points bundled in
      * vertices and can be viewed as a PCL point cloud (without data-copying).
      *
      * This concept is a refinement of [PropertyGraph]. Please refer to
      * [BGL concepts][GraphConcepts] for a complete list of graph-related
      * concepts in boost.
      *
      * [PropertyGraph]: http://www.boost.org/doc/libs/1_55_0/libs/graph/doc/PropertyGraph.html
      * [GraphConcepts]: http://www.boost.org/doc/libs/1_55_0/libs/graph/doc/graph_concepts.html
      *
      *
      * ## Notation ##
      *
      *
      * - `G` a type that is a model of PointCloudGraph
      * - `g` an object of type `G`
      *
      *
      * ## Associated types ##
      *
      *
      * - `pcl::graph::point_cloud_graph_traits<G>::point_type`
      *
      *   The type of PCL points bundled in vertices.
      *
      * - `pcl::graph::point_cloud_graph_traits<G>::point_cloud_type`
      *
      *   The type of PCL point cloud this graph can be viewed as.
      *
      * - `pcl::graph::point_cloud_graph_traits<G>::point_cloud_ptr`
      *
      *   The type of a shared pointer to PCL point cloud this graph can be
      *   viewed as.
      *
      * - `pcl::graph::point_cloud_graph_traits<G>::point_cloud_const_ptr`
      *
      *   The type of a shared pointer to const PCL point cloud this graph can
      *   be viewed as.
      *
      *
      * ## Valid expressions ##
      *
      * - `G (point_cloud_ptr)`
      * - \ref pcl::graph::point_cloud() "pcl::graph::point_cloud (g)"
      * - \ref pcl::graph::indices() "pcl::graph::indices (g)"
      *
      *
      * ## Models ##
      *
      *
      * - `pcl::graph::point_cloud_graph`
      * - `boost::subgraph<pcl::graph::point_cloud_graph>`
      *
      * \author Sergey Alexandrov
      * \ingroup graph
      */
 
    BOOST_concept(PointCloudGraph, (G)) : boost::concepts::Graph<G>
    {
 
        typedef typename boost::vertex_bundle_type<G>::type vertex_bundled;
        typedef typename boost::graph_traits<G>::vertex_descriptor vertex_descriptor;
        typedef typename point_cloud_graph_traits<G>::point_type point_type;
        typedef typename point_cloud_graph_traits<G>::point_cloud_type point_cloud_type;
        typedef typename point_cloud_graph_traits<G>::point_cloud_ptr point_cloud_ptr;
        typedef typename point_cloud_graph_traits<G>::point_cloud_const_ptr point_cloud_const_ptr;
 
        BOOST_STATIC_ASSERT(
            (boost::mpl::not_<boost::is_same<vertex_bundled, boost::no_property>>::value));
        BOOST_STATIC_ASSERT((boost::is_same<vertex_bundled, point_type>::value));
 
        BOOST_CONCEPT_USAGE(PointCloudGraph)
        {
            BOOST_CONCEPT_ASSERT(
                (boost::concepts::PropertyGraph<G, vertex_descriptor, boost::vertex_bundle_t>));
            p = point_cloud(g);
            i = indices(g);
            G a(p); // require that graph can be constructed from a point cloud pointer
            const_constraints(g);
        }
 
        void const_constraints(const G& cg)
        {
            pc = point_cloud(cg);
            i = indices(cg);
        }
 
        G g;
        point_cloud_ptr p;
        point_cloud_const_ptr pc;
        pcl::PointIndices::Ptr i;
    };
 
} // namespace pcl::graph::concepts
 
namespace pcl::graph
{
    using pcl::graph::concepts::PointCloudGraphConcept;
 
}
 
#include <boost/concept/detail/concept_undef.hpp>
 
#endif /* PCL_GRAPH_POINT_CLOUD_GRAPH_CONCEPT_H */