DependencyGraph.h

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/*
 * This file is part of KnowRob, please consult
 * https://github.com/knowrob/knowrob for license details.
 */
 
#ifndef KNOWROB_DEPENDENCY_GRAPH_H
#define KNOWROB_DEPENDENCY_GRAPH_H
 
#include <list>
#include "knowrob/formulas/FirstOrderLiteral.h"
 
namespace knowrob {
    class DependencyNode {
    public:
        explicit DependencyNode(const FirstOrderLiteralPtr &literal);
 
        const std::set<std::string_view> &variables() const { return literal_->predicate()->variables(); }
 
        auto numVariables() const { return variables().size(); }
 
        auto numNeighbors() const { return neighbors_.size(); }
 
        const auto &neighbors() const { return neighbors_; }
 
        void addDependency(const std::shared_ptr<DependencyNode> &other);
 
        const auto &literal() const { return literal_; }
 
    protected:
        std::list<std::shared_ptr<DependencyNode>> neighbors_;
        const FirstOrderLiteralPtr literal_;
 
        friend class DependencyGraph;
    };
 
    using DependencyNodePtr = std::shared_ptr<DependencyNode>;
 
    struct DependencyGroup {
        std::set<std::string_view> variables_;
        std::list<DependencyNodePtr> member_;
 
        void operator+=(const DependencyGroup &other) {
            member_.insert(other.member_.end(), other.member_.begin(), other.member_.end());
            variables_.insert(other.variables_.begin(), other.variables_.end());
        }
    };
 
    class DependencyGraph {
    public:
        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) {
            while (begin != end) {
                auto next = *begin;
                insert(next);
                ++begin;
            }
        }
 
        auto begin() const { return groups_.begin(); }
 
        auto end() const { return groups_.end(); }
 
        auto numNodes() const { return nodes_.size(); }
 
        auto numGroups() const { return groups_.size(); }
 
    protected:
        std::list<DependencyNodePtr> nodes_;
        std::list<DependencyGroup> groups_;
    };
 
} // knowrob
 
#endif //KNOWROB_DEPENDENCY_GRAPH_H