knowrob::DependencyGraph Class Reference

#include <DependencyGraph.h>

Public Member Functions
	DependencyGraph ()=default
	~DependencyGraph ()
	DependencyGraph (const DependencyGraph &other)=delete
void	operator+= (const DependencyNodePtr &node)
void	insert (const DependencyNodePtr &node)
void	insert (const FirstOrderLiteralPtr &literal)
void	insert (const std::vector< FirstOrderLiteralPtr > &literals)
template<typename Iterator >
void	insert (Iterator begin, Iterator end)
auto	begin () const
auto	end () const
auto	numNodes () const
auto	numGroups () const
	DependencyGraph ()=default
	~DependencyGraph ()
	DependencyGraph (const DependencyGraph &other)=delete
void	operator+= (const DependencyNodePtr &node)
void	insert (const DependencyNodePtr &node)
void	insert (const FirstOrderLiteralPtr &literal)
void	insert (const std::vector< FirstOrderLiteralPtr > &literals)
template<typename Iterator >
void	insert (Iterator begin, Iterator end)
auto	begin () const
auto	end () const
auto	numNodes () const
auto	numGroups () const

Protected Attributes
std::list< DependencyNodePtr >	nodes_
std::list< DependencyGroup >	groups_

Detailed Description

A graph capturing a dependency relation between literals in a formula. Two literals are viewed as dependant in case they share a free variable. Here, labeled literals are considered.

Definition at line 75 of file DependencyGraph.h.

Constructor & Destructor Documentation

DependencyGraph() [1/4]

knowrob::DependencyGraph::DependencyGraph ( )

default

~DependencyGraph() [1/2]

DependencyGraph::~DependencyGraph

(

)

Definition at line 20 of file DependencyGraph.cpp.

{
    for (auto &node : nodes_) {
        node->neighbors_.clear();
    }
    nodes_.clear();
    groups_.clear();
}

DependencyGraph() [2/4]

knowrob::DependencyGraph::DependencyGraph ( const DependencyGraph &  other )

delete

DependencyGraph() [3/4]

knowrob::DependencyGraph::DependencyGraph ( )

default

~DependencyGraph() [2/2]

knowrob::DependencyGraph::~DependencyGraph

(

)

DependencyGraph() [4/4]

knowrob::DependencyGraph::DependencyGraph ( const DependencyGraph &  other )

delete

Member Function Documentation

begin() [1/2]

auto knowrob::DependencyGraph::begin ( ) const

inline

Returns

begin iterator over literals in a path.

Definition at line 128 of file DependencyGraph.h.

{ return groups_.begin(); }

begin() [2/2]

auto knowrob::DependencyGraph::begin ( ) const

inline

Returns

begin iterator over literals in a path.

Definition at line 128 of file DependencyGraph.h.

{ return groups_.begin(); }

end() [1/2]

auto knowrob::DependencyGraph::end ( ) const

inline

Returns

end iterator over literals in a path.

Definition at line 133 of file DependencyGraph.h.

{ return groups_.end(); }

end() [2/2]

auto knowrob::DependencyGraph::end ( ) const

inline

Returns

end iterator over literals in a path.

Definition at line 133 of file DependencyGraph.h.

{ return groups_.end(); }

insert() [1/8]

void DependencyGraph::insert

(

const DependencyNodePtr &

node

)

Add a new node to the graph and compute dependency relation with other nodes.

Parameters

node	a dependency node.

Definition at line 45 of file DependencyGraph.cpp.

{
    nodes_.push_back(newNode);
 
    // find the modal node groups that have a shared variable with newNode.
    std::list<std::list<DependencyGroup>::iterator > dependencies;
    for(auto it=groups_.begin(); it!=groups_.end(); ++it) {
        if(has_intersection(it->variables_, newNode->variables())) {
            dependencies.push_back(it);
        }
    }
 
    DependencyGroup *newNodeGroup = nullptr;
    if(dependencies.empty()) {
        // the literal does not have a shared variable with an existing group.
        // create a new one with just the literal as a member.
        auto &newGroup = groups_.emplace_back();
        newNodeGroup = &newGroup;
    }
    else if(dependencies.size()==1) {
        // add to group
        auto &group = *dependencies.front();
        newNodeGroup = &group;
    }
    else {
        // merge multiple groups into one
        auto &newGroup = groups_.emplace_back();
        for(auto groupIterator : dependencies) {
            newGroup += *groupIterator;
            groups_.erase(groupIterator);
        }
        newNodeGroup = &newGroup;
    }
    // update neighbor relation based on shared variables with other nodes
    for(auto &x : newNodeGroup->member_) {
        if(has_intersection(x->variables(), newNode->variables())) {
            x->neighbors_.push_back(newNode);
            newNode->neighbors_.push_back(x);
        }
    }
    // finally add the new node to the group
    newNodeGroup->member_.push_back(newNode);
    newNodeGroup->variables_.insert(newNode->variables().begin(), newNode->variables().end());
}

insert() [2/8]

void knowrob::DependencyGraph::insert

(

const DependencyNodePtr &

node

)

Add a new node to the graph and compute dependency relation with other nodes.

Parameters

node	a dependency node.

insert() [3/8]

void DependencyGraph::insert

(

const FirstOrderLiteralPtr &

literal

)

Add a new node to the graph and compute dependency relation with other nodes.

Parameters

literal

a literal.

Definition at line 40 of file DependencyGraph.cpp.

{
    insert(std::make_shared<DependencyNode>(literal));
}

insert() [4/8]

void knowrob::DependencyGraph::insert

(

const FirstOrderLiteralPtr &

literal

)

Add a new node to the graph and compute dependency relation with other nodes.

Parameters

literal

a literal.

insert() [5/8]

void DependencyGraph::insert

(

const std::vector< FirstOrderLiteralPtr > &

literals

)

Add a new node to the graph and compute dependency relation with other nodes.

Parameters

literals

set of literals considered in conjunction.

Definition at line 34 of file DependencyGraph.cpp.

{
    for(auto &l : literals)
        insert(std::make_shared<DependencyNode>(l));
}

insert() [6/8]

void knowrob::DependencyGraph::insert

(

const std::vector< FirstOrderLiteralPtr > &

literals

)

Add a new node to the graph and compute dependency relation with other nodes.

Parameters

literals

set of literals considered in conjunction.

insert() [7/8]

template<typename Iterator >

void knowrob::DependencyGraph::insert ( Iterator  begin, Iterator  end  )

inline

Insert a node for each iteration.

Template Parameters

Iterator

an iterator with ++ and * operator

Parameters

begin	marks begin of iteration
end	marks end of iteration

Definition at line 117 of file DependencyGraph.h.

                                                  {
            while (begin != end) {
                auto next = *begin;
                insert(next);
                ++begin;
            }
        }

insert() [8/8]

template<typename Iterator >

void knowrob::DependencyGraph::insert ( Iterator  begin, Iterator  end  )

inline

Insert a node for each iteration.

Template Parameters

Iterator

an iterator with ++ and * operator

Parameters

begin	marks begin of iteration
end	marks end of iteration

Definition at line 117 of file DependencyGraph.h.

                                                  {
            while (begin != end) {
                auto next = *begin;
                insert(next);
                ++begin;
            }
        }

numGroups() [1/2]

auto knowrob::DependencyGraph::numGroups ( ) const

inline

Returns

number of dependency groups among modalFrame labeled nodes.

Definition at line 143 of file DependencyGraph.h.

{ return groups_.size(); }

numGroups() [2/2]

auto knowrob::DependencyGraph::numGroups ( ) const

inline

Returns

number of dependency groups among modalFrame labeled nodes.

Definition at line 143 of file DependencyGraph.h.

{ return groups_.size(); }

numNodes() [1/2]

auto knowrob::DependencyGraph::numNodes ( ) const

inline

Returns

number of nodes with modalFrame label.

Definition at line 138 of file DependencyGraph.h.

{ return nodes_.size(); }

numNodes() [2/2]

auto knowrob::DependencyGraph::numNodes ( ) const

inline

Returns

number of nodes with modalFrame label.

Definition at line 138 of file DependencyGraph.h.

{ return nodes_.size(); }

operator+=() [1/2]

void DependencyGraph::operator+=

(

const DependencyNodePtr &

node

)

Same as insert(node).

Parameters

node	a dependency node.

Definition at line 29 of file DependencyGraph.cpp.

{
    insert(node);
}

operator+=() [2/2]

void knowrob::DependencyGraph::operator+=

(

const DependencyNodePtr &

node

)

Same as insert(node).

Parameters

node	a dependency node.

Member Data Documentation

groups_

std::list< DependencyGroup > knowrob::DependencyGraph::groups_

protected

Definition at line 147 of file DependencyGraph.h.

nodes_

std::list< DependencyNodePtr > knowrob::DependencyGraph::nodes_

protected

Definition at line 146 of file DependencyGraph.h.

---

The documentation for this class was generated from the following files:

• build/_CPack_Packages/Linux/DEB/knowrob-2.1.0-Linux/usr/include/knowrob/formulas/DependencyGraph.h
• src/formulas/DependencyGraph.cpp