Link Class Reference

#include <topomap/Link.h>

Inheritance diagram for Link:

Public Types
enum	Type { INTERLINK = 0, INTRALINK, UPLINK, SHALLOWLINK }
	Inter-Links, that connect GatewayNodes of sibling child nodes. More...

Public Member Functions
	Link ()
	Link (Type type, GatewayNodePtr from, GatewayNodePtr to, bool bidirectional=true, double costs=0.0)
template<typename Reflector >
void	reflect (Reflector &r)
GatewayNodePtr	from () const
GatewayNodePtr	to () const
bool	isBidirectional () const
Type	type () const
virtual GraphElementPtr	findElement (const std::string &predicate)
virtual const GraphElementPtr	findElement (const std::string &predicate) const

Static Public Member Functions
static LinkPtr	create ()
static LinkPtr	create (Type type, GatewayNodePtr from, GatewayNodePtr to, bool bidirectional=true, double costs=0.0)

Public Attributes
bool	bidirectional
double	costs

Friends
class	TopoMap

Member Enumeration Documentation

Type

enum Type

Inter-Links, that connect GatewayNodes of sibling child nodes.

The costs of these links usually are 0, since the connected Gateways usually represent the same position in the world. If elevators are involved e.g. these costs can be >0.

Intra-Links are the links between all GatewayNodes of this node with eachother (a fully connected graph) Together with the (Inter)Links of the parent node and all IntraLinks of all siblings, form the complete topological path within this node level. The costs of the links represent the costs it takes to get from one GatewayNode within this node to another one. These costs are computed using the gridmap in the leaf nodes. For higher level nodes the costs are propagated upwards. This kind of links is not specified explicitly by a designer. They are computed during the graph generation / preparation stage.

UpLinks: Links that connect GatewayNodes of our children with the corresponding GatewayNodes (that link to the same Gateway) of this node. The costs of uplinks must be 0.

ShallowLinks: Links that symbolise a real connection between two GatewayNodes, even though there is no physical link between these (i.e. links between GatewayNodes with a common ancestor that isn't their Node's parent).

Enumerator
INTERLINK
INTRALINK
UPLINK
SHALLOWLINK

Constructor & Destructor Documentation

Link() [1/2]

Link

(

)

Link() [2/2]

Link	(	Type	type,
		GatewayNodePtr	from,
		GatewayNodePtr	to,
		bool	bidirectional = true,
		double	costs = 0.0
	)

Member Function Documentation

create() [1/2]

static LinkPtr create ( )

inlinestatic

create() [2/2]

static LinkPtr create ( Type  type, GatewayNodePtr  from, GatewayNodePtr  to, bool  bidirectional = true, double  costs = 0.0  )

inlinestatic

reflect()

void reflect ( Reflector &  r )

inline

from()

GatewayNodePtr from ( ) const

inline

to()

GatewayNodePtr to ( ) const

inline

isBidirectional()

bool isBidirectional ( ) const

inline

type()

Type type ( ) const

inline

findElement() [1/2]

virtual GraphElementPtr findElement ( const std::string &  predicate )

inlinevirtualinherited

Reimplemented in GatewayNode, and Node.

findElement() [2/2]

virtual const GraphElementPtr findElement ( const std::string &  predicate ) const

inlinevirtualinherited

Friends And Related Function Documentation

TopoMap

friend class TopoMap

friend

Member Data Documentation

bidirectional

bool bidirectional

costs

double costs

---

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

• include/topomap/Link.h