connected-component.hh

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//
// Copyright (c) 2014 CNRS
// Authors: Florent Lamiraux
//
// This file is part of hpp-core
// hpp-core is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-core 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 Lesser Public License for more details.  You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-core  If not, see
// <http://www.gnu.org/licenses/>.

#ifndef HPP_CORE_CONNECTED_COMPONENT_HH
# define HPP_CORE_CONNECTED_COMPONENT_HH

# include <hpp/core/fwd.hh>
# include <hpp/core/config.hh>
# include <hpp/core/node.hh>

namespace hpp {
  namespace core {
    class HPP_CORE_DLLAPI ConnectedComponent {
    public:
      typedef ConnectedComponent* RawPtr_t;
      typedef std::set <RawPtr_t> RawPtrs_t;

      // variable for ranking connected components
      static unsigned int globalFinishTime_;
      static ConnectedComponentPtr_t create ()
      {
    ConnectedComponent* ptr = new ConnectedComponent ();
    ConnectedComponentPtr_t shPtr (ptr);
    ptr->init (shPtr);
    return shPtr;
      }
      virtual void merge (const ConnectedComponentPtr_t& other);
      
      virtual ~ConnectedComponent() {}
      
      virtual void addNode (const NodePtr_t& node)
      {
    nodes_.push_back (node);
      }
      const NodeVector_t& nodes () const
      {
    return nodes_;
      }


      bool canReach (const ConnectedComponentPtr_t& cc);

      
      bool canReach (const ConnectedComponentPtr_t& cc,
             RawPtrs_t& cc2Tocc1);

      // Get connected components reachable from this
      const RawPtrs_t& reachableTo () const
      {
    return reachableTo_;
      }

      // Get connected components that can reach this
      const RawPtrs_t& reachableFrom () const
      {
    return reachableFrom_;
      }

      ConnectedComponentPtr_t self ()
      {
        return weak_.lock ();
      }

    protected:
      ConnectedComponent () : nodes_ (), explored_ (false), weak_ ()
      {
            nodes_.reserve (1000);
      }
      void init (const ConnectedComponentPtr_t& shPtr){
    weak_ = shPtr;
      }
    private:
      static void clean (RawPtrs_t& set);

      NodeVector_t nodes_;
      // List of CCs from which this connected component can be reached
      RawPtrs_t reachableFrom_;
      // List of CCs that can be reached from this connected component
      RawPtrs_t reachableTo_;
      // status variable to indicate whether or not CC has been visited
      mutable bool explored_;
      ConnectedComponentWkPtr_t weak_;
      friend class Roadmap;
    }; // class ConnectedComponent
  } //   namespace core
} // namespace hpp
#endif // HPP_CORE_CONNECTED_COMPONENT_HH