GraphBuilder.h

Go to the documentation of this file.

/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <cstdint>
#include <optional>
#include <vector>
 
#include <armarx/navigation/client/types.h>
#include <armarx/navigation/core/Graph.h>
#include <armarx/navigation/core/basic_types.h>
 
#include <SemanticObjectRelations/Shapes/Shape.h>
 
namespace armarx::navigation::server
{
 
 
    class GraphBuilder
    {
    public:
        void initialize(const core::Pose& pose);
 
        // const std::vector<core::Graph::VertexDescriptor>& activeVertices() const;
 
        void connect(const core::Pose& pose, const client::GlobalPlanningStrategy& strategy);
 
 
        // which type to choose? this is a sequence of chains
 
        /**
         * @brief
         *
         * @param routes
         * @param strategy strategy on how to connect the last vertex and the routes
         */
        void connect(const std::vector<core::Graph::VertexDescriptor>& routes,
                     const client::GlobalPlanningStrategy& strategy);
        void connect(const std::vector<core::GraphPath>& routes,
                     const client::GlobalPlanningStrategy& strategy);
        // void connect(const core::Pose& pose, const client::GlobalPlanningStrategy& strategy);
 
        const core::Graph& getGraph() const;
 
        std::optional<core::Graph::ConstVertex> startVertex;
 
        core::Graph::VertexDescriptor goalVertex() const;
 
        core::Pose goalPose() const;
 
    private:
        // void addEdge(const std::vector<core::Graph::VertexDescriptor>& sources,
        //              const std::vector<core::Graph::VertexDescriptor>& targets);
 
        void validate(auto&& vertices) const;
 
        semrel::ShapeID addOrGetVertex(const core::Graph::VertexAttrib& attributes);
        std::optional<semrel::ShapeID>
        getVertexByAttributes(const core::Graph::VertexAttrib& attributes);
 
        std::vector<semrel::ShapeID> activeVertices_;
 
        core::Graph graph;
 
        int64_t vertexIdCnt = -1;
    };
 
} // namespace armarx::navigation::server