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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
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<li class="navelem"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html">CDirectedGraph</a> </li>
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<div class="title">mrpt::graphs::CDirectedGraph Class Reference<div class="ingroups"><a class="el" href="group__mrpt__graphs__grp.html">[mrpt-graphs]</a></div></div> </div>
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<!-- doxytag: class="mrpt::graphs::CDirectedGraph" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A directed graph with the argument of the template specifying the type of the annotations in the edges. </p>
<p>This class only keeps a list of edges (in the member <em>edges</em>), so there is no information stored for each node but its existence referred by a node_ID.</p>
<p>Note that edges are stored as a std::multimap<> to allow <b>multiple edges</b> between the same pair of nodes.</p>
<dl class="see"><dt><b>See also:</b></dt><dd>mrpt::math::CDijkstra, <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses.html" title="A directed graph of pose constraints, with edges being the relative pose between pairs of nodes inden...">mrpt::graphs::CNetworkOfPoses</a>, <a class="el" href="classmrpt_1_1graphs_1_1_c_directed_tree.html" title="A special kind of graph in the form of a tree with directed edges and optional edge annotations of te...">mrpt::graphs::CDirectedTree</a> </dd></dl>
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<p><code>#include <<a class="el" href="_c_directed_graph_8h_source.html">mrpt/graphs/CDirectedGraph.h</a>></code></p>
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Inheritance diagram for mrpt::graphs::CDirectedGraph:</div>
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<div class="center"><img src="classmrpt_1_1graphs_1_1_c_directed_graph__inherit__graph.png" border="0" usemap="#mrpt_1_1graphs_1_1_c_directed_graph_inherit__map" alt="Inheritance graph"/></div>
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1graphs_1_1_c_directed_graph-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1graphs_1_1_c_directed_graph_1_1edge__t.html">edge_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The type of each global pose in <em>nodes:</em> an extension of the <em>TYPE_EDGES</em> pose with any optional user-defined data. <a href="structmrpt_1_1graphs_1_1_c_directed_graph_1_1edge__t.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <br class="typebreak"/>
<a class="el" href="structmrpt_1_1aligned__containers.html">mrpt::aligned_containers</a><br class="typebreak"/>
< <a class="el" href="namespacemrpt_1_1utils.html#aee71d7beb4d61406566af3847410d0e4">TPairNodeIDs</a>, <a class="el" href="structmrpt_1_1graphs_1_1_c_directed_graph_1_1edge__t.html">edge_t</a> ><br class="typebreak"/>
::multimap_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a61f20647604df391401a440bbcada042">edges_map_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The type of the member <em>edges</em>. <a href="#a61f20647604df391401a440bbcada042"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1multimap_1_1iterator.html">edges_map_t::iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a79519246c2bf66e78eacaffa55ca0272">iterator</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1multimap_1_1const__iterator.html">edges_map_t::const_iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a8acbd51f416c2688ce308c7b04a0d41e">const_iterator</a></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a26820ef15775e01b82e64f4333a98115">CDirectedGraph</a> (const <a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a61f20647604df391401a440bbcada042">edges_map_t</a> &obj)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy constructor from a multimap<pair< >, > <a href="#a26820ef15775e01b82e64f4333a98115"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a7f6ab2dcf88a4d2efbe062d000f99d18">CDirectedGraph</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. <a href="#a7f6ab2dcf88a4d2efbe062d000f99d18"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a79519246c2bf66e78eacaffa55ca0272">iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a00410afac8cede69cdc275ff3e4a1a30">begin</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a79519246c2bf66e78eacaffa55ca0272">iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a265aeeb118a342f8773badf2d0242d6d">end</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a8acbd51f416c2688ce308c7b04a0d41e">const_iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a9f0c17f5db14446650391ba6c37bd6cc">begin</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a8acbd51f416c2688ce308c7b04a0d41e">const_iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a5c0aaefb7f5394d9ca8f9c3052df8a5f">end</a> () const </td></tr>
<tr><td colspan="2"><div class="groupHeader">Edges/nodes utility methods</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a5fbfb47dfb250f23acf3a7802a70dac3">edgeCount</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The number of edges in the graph. <a href="#a5fbfb47dfb250f23acf3a7802a70dac3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a0fbd2b4cc97be2a0e1a96c91e0727b8c">clearEdges</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Erase all edges. <a href="#a0fbd2b4cc97be2a0e1a96c91e0727b8c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a8db3c28b8b73e01cf5e38cef5b9ab1df">insertEdge</a> (<a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> from_nodeID, <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> to_nodeID, const <a class="el" href="structmrpt_1_1graphs_1_1_c_directed_graph_1_1edge__t.html">edge_t</a> &edge_value)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Insert an edge (from -> to) with the given edge value. <a href="#a8db3c28b8b73e01cf5e38cef5b9ab1df"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a69842cf7adcab68da36898d217fb1977">insertEdgeAtEnd</a> (<a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> from_nodeID, <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> to_nodeID, const <a class="el" href="structmrpt_1_1graphs_1_1_c_directed_graph_1_1edge__t.html">edge_t</a> &edge_value)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Insert an edge (from -> to) with the given edge value (more efficient version to be called if you know that the end will go at the end of the sorted <a class="el" href="classstd_1_1multimap.html" title="STL class.">std::multimap</a>). <a href="#a69842cf7adcab68da36898d217fb1977"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a8d9be5feb0368b37f4598ce7a591a96c">edgeExists</a> (<a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> from_nodeID, <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> to_nodeID) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Test is the given directed edge exists. <a href="#a8d9be5feb0368b37f4598ce7a591a96c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1graphs_1_1_c_directed_graph_1_1edge__t.html">edge_t</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a2d858a4b74c090b99a3aa1f4c92e76d6">getEdge</a> (<a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> from_nodeID, <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> to_nodeID)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return a reference to the content of a given edge. <a href="#a2d858a4b74c090b99a3aa1f4c92e76d6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structmrpt_1_1graphs_1_1_c_directed_graph_1_1edge__t.html">edge_t</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#ada6c10bb7f912abb084c2e4173845619">getEdge</a> (<a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> from_nodeID, <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> to_nodeID) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return a reference to the content of a given edge. <a href="#ada6c10bb7f912abb084c2e4173845619"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::pair< <a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a79519246c2bf66e78eacaffa55ca0272">iterator</a>, <a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a79519246c2bf66e78eacaffa55ca0272">iterator</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#adf2bb3bd0774fee8fd3f14f7f316aaa1">getEdges</a> (<a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> from_nodeID, <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> to_nodeID)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return a pair<first,last> of iterators to the range of edges between two given nodes. <a href="#adf2bb3bd0774fee8fd3f14f7f316aaa1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::pair< <a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a8acbd51f416c2688ce308c7b04a0d41e">const_iterator</a>, <br class="typebreak"/>
<a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a8acbd51f416c2688ce308c7b04a0d41e">const_iterator</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a548e07d2c9b49ceb08610f3e4eca19dc">getEdges</a> (<a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> from_nodeID, <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> to_nodeID) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return a pair<first,last> of const iterators to the range of edges between two given nodes. <a href="#a548e07d2c9b49ceb08610f3e4eca19dc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a9e072ff6281e3aacf318b84685fc2a55">eraseEdge</a> (<a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> from_nodeID, <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> to_nodeID)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Erase all edges between the given nodes (it has no effect if no edge existed) <a href="#a9e072ff6281e3aacf318b84685fc2a55"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#ad73f9ea9eaa069cf1b7000b8b560155e">getAllNodes</a> (<a class="el" href="classstd_1_1set.html">std::set</a>< <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> > &lstNode_IDs) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return a list of all the node_ID's of the graph, generated from all the nodes that appear in the list of edges. <a href="#ad73f9ea9eaa069cf1b7000b8b560155e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1set.html">std::set</a>< <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a11fed5f0111f8a42f891f788aea8408e">getAllNodes</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Less efficient way to get all nodes that returns a copy of the set object. <a href="#a11fed5f0111f8a42f891f788aea8408e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#aac62b79ce4e35b186bf12427ef72f77e">countDifferentNodesInEdges</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Count how many different node IDs appear in the graph edges. <a href="#aac62b79ce4e35b186bf12427ef72f77e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#ab275c72b1763fb12b09f762e83ad6355">getNeighborsOf</a> (const <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> nodeID, <a class="el" href="classstd_1_1set.html">std::set</a>< <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> > &neighborIDs) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return the list of all neighbors of "nodeID", by creating a list of their node IDs. <a href="#ab275c72b1763fb12b09f762e83ad6355"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class MAP_NODEID_SET_NODEIDS > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a6b05ec8c7974689a9013c142fe82b3e5">getAdjacencyMatrix</a> (MAP_NODEID_SET_NODEIDS &outAdjacency) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return a map from node IDs to all its neighbors (that is, connected nodes, regardless of the edge direction) This is a much more efficient method than calling <a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#ab275c72b1763fb12b09f762e83ad6355" title="Return the list of all neighbors of "nodeID", by creating a list of their node IDs.">getNeighborsOf()</a> for each node in the graph. <a href="#a6b05ec8c7974689a9013c142fe82b3e5"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class MAP_NODEID_SET_NODEIDS , class SET_NODEIDS > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a3434d7335a5ef1f2bf166c438a0e23ac">getAdjacencyMatrix</a> (MAP_NODEID_SET_NODEIDS &outAdjacency, const SET_NODEIDS &onlyForTheseNodes) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Just like <em>getAdjacencyMatrix</em> but return only the adjacency for those node_ids in the set <em>onlyForTheseNodes</em> (both endings nodes of an edge must be within the set for it to be returned) <a href="#a3434d7335a5ef1f2bf166c438a0e23ac"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a61f20647604df391401a440bbcada042">edges_map_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a6b82920b6172bcdaeb088c64a6c9a80f">edges</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The public member with the directed edges in the graph. <a href="#a6b82920b6172bcdaeb088c64a6c9a80f"></a><br/></td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
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<td class="memname">typedef <a class="el" href="classstd_1_1multimap_1_1const__iterator.html">edges_map_t::const_iterator</a> <a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a8acbd51f416c2688ce308c7b04a0d41e">mrpt::graphs::CDirectedGraph::const_iterator</a></td>
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<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00077">77</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<td class="memname">typedef <a class="el" href="structmrpt_1_1aligned__containers.html">mrpt::aligned_containers</a><<a class="el" href="namespacemrpt_1_1utils.html#aee71d7beb4d61406566af3847410d0e4">TPairNodeIDs</a>,<a class="el" href="structmrpt_1_1graphs_1_1_c_directed_graph_1_1edge__t.html">edge_t</a>>::multimap_t <a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a61f20647604df391401a440bbcada042">mrpt::graphs::CDirectedGraph::edges_map_t</a></td>
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<p>The type of the member <em>edges</em>. </p>
<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00075">75</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<td class="memname">typedef <a class="el" href="classstd_1_1multimap_1_1iterator.html">edges_map_t::iterator</a> <a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a79519246c2bf66e78eacaffa55ca0272">mrpt::graphs::CDirectedGraph::iterator</a></td>
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<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00076">76</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a26820ef15775e01b82e64f4333a98115"></a><!-- doxytag: member="mrpt::graphs::CDirectedGraph::CDirectedGraph" ref="a26820ef15775e01b82e64f4333a98115" args="(const edges_map_t &obj)" -->
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<td class="memname">mrpt::graphs::CDirectedGraph::CDirectedGraph </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a61f20647604df391401a440bbcada042">edges_map_t</a> & </td>
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<p>Copy constructor from a multimap<pair< >, > </p>
<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00083">83</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<p>Default constructor. </p>
<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00084">84</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
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<td class="memname"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a79519246c2bf66e78eacaffa55ca0272">iterator</a> mrpt::graphs::CDirectedGraph::begin </td>
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<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00086">86</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a8acbd51f416c2688ce308c7b04a0d41e">const_iterator</a> mrpt::graphs::CDirectedGraph::begin </td>
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<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00088">88</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<td class="memname">void mrpt::graphs::CDirectedGraph::clearEdges </td>
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<p>Erase all edges. </p>
<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00096">96</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<td class="memname">size_t mrpt::graphs::CDirectedGraph::countDifferentNodesInEdges </td>
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<p>Count how many different node IDs appear in the graph edges. </p>
<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00179">179</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<p>The number of edges in the graph. </p>
<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00095">95</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<td class="paramtype"><a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> </td>
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<p>Test is the given directed edge exists. </p>
<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00118">118</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a79519246c2bf66e78eacaffa55ca0272">iterator</a> mrpt::graphs::CDirectedGraph::end </td>
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<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00087">87</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
<p>Referenced by <a class="el" href="_c_network_of_poses_8h_source.html#l00208">mrpt::graphs::CNetworkOfPoses< CPose3DPDFGaussian, map_traits_stdmap >::getGlobalSquareError()</a>.</p>
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<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00089">89</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<p>Erase all edges between the given nodes (it has no effect if no edge existed) </p>
<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00158">158</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<p>Return a map from node IDs to all its neighbors (that is, connected nodes, regardless of the edge direction) This is a much more efficient method than calling <a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#ab275c72b1763fb12b09f762e83ad6355" title="Return the list of all neighbors of "nodeID", by creating a list of their node IDs.">getNeighborsOf()</a> for each node in the graph. </p>
<p>Possible values for the template argument MAP_NODEID_SET_NODEIDS are:</p>
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<li><a class="el" href="classstd_1_1map.html" title="STL class.">std::map</a><TNodeID, std::set<TNodeID> ></li>
<li><a class="el" href="classmrpt_1_1utils_1_1map__as__vector.html" title="A STL-like container which looks and behaves (almost exactly) like a std::map<> but is implemented as...">mrpt::utils::map_as_vector</a><TNodeID, std::set<TNodeID> > <dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#ab275c72b1763fb12b09f762e83ad6355" title="Return the list of all neighbors of "nodeID", by creating a list of their node IDs.">getNeighborsOf</a> </dd></dl>
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<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00211">211</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<p>Just like <em>getAdjacencyMatrix</em> but return only the adjacency for those node_ids in the set <em>onlyForTheseNodes</em> (both endings nodes of an edge must be within the set for it to be returned) </p>
<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00224">224</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<a class="anchor" id="ad73f9ea9eaa069cf1b7000b8b560155e"></a><!-- doxytag: member="mrpt::graphs::CDirectedGraph::getAllNodes" ref="ad73f9ea9eaa069cf1b7000b8b560155e" args="(std::set< TNodeID > &lstNode_IDs) const " -->
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<td class="memname">void mrpt::graphs::CDirectedGraph::getAllNodes </td>
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<td class="paramtype"><a class="el" href="classstd_1_1set.html">std::set</a>< <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> > & </td>
<td class="paramname"><em>lstNode_IDs</em></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Return a list of all the node_ID's of the graph, generated from all the nodes that appear in the list of edges. </p>
<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00164">164</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<a class="anchor" id="a11fed5f0111f8a42f891f788aea8408e"></a><!-- doxytag: member="mrpt::graphs::CDirectedGraph::getAllNodes" ref="a11fed5f0111f8a42f891f788aea8408e" args="() const " -->
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<td class="memname"><a class="el" href="classstd_1_1set.html">std::set</a><<a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a>> mrpt::graphs::CDirectedGraph::getAllNodes </td>
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<p>Less efficient way to get all nodes that returns a copy of the set object. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getAllNodes( std::set<TNodeID> &lstNode_IDs) </dd></dl>
<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00175">175</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
<p>Referenced by <a class="el" href="_c_directed_graph_8h_source.html#l00175">mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::getAllNodes()</a>.</p>
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<a class="anchor" id="a2d858a4b74c090b99a3aa1f4c92e76d6"></a><!-- doxytag: member="mrpt::graphs::CDirectedGraph::getEdge" ref="a2d858a4b74c090b99a3aa1f4c92e76d6" args="(TNodeID from_nodeID, TNodeID to_nodeID)" -->
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<td class="memname"><a class="el" href="structmrpt_1_1graphs_1_1_c_directed_graph_1_1edge__t.html">edge_t</a>& mrpt::graphs::CDirectedGraph::getEdge </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> </td>
<td class="paramname"><em>from_nodeID</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype"><a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> </td>
<td class="paramname"><em>to_nodeID</em> </td>
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<p>Return a reference to the content of a given edge. </p>
<p>If several edges exist between the given nodes, the first one is returned. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>if the given edge does not exist </td></tr>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#adf2bb3bd0774fee8fd3f14f7f316aaa1" title="Return a pair<first,last> of iterators to the range of edges between two given nodes.">getEdges</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00126">126</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<a class="anchor" id="ada6c10bb7f912abb084c2e4173845619"></a><!-- doxytag: member="mrpt::graphs::CDirectedGraph::getEdge" ref="ada6c10bb7f912abb084c2e4173845619" args="(TNodeID from_nodeID, TNodeID to_nodeID) const " -->
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<td class="memname">const <a class="el" href="structmrpt_1_1graphs_1_1_c_directed_graph_1_1edge__t.html">edge_t</a>& mrpt::graphs::CDirectedGraph::getEdge </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> </td>
<td class="paramname"><em>from_nodeID</em>, </td>
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<td class="paramtype"><a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> </td>
<td class="paramname"><em>to_nodeID</em> </td>
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<td>)</td>
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<p>Return a reference to the content of a given edge. </p>
<p>If several edges exist between the given nodes, the first one is returned. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>if the given edge does not exist </td></tr>
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</dd>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#adf2bb3bd0774fee8fd3f14f7f316aaa1" title="Return a pair<first,last> of iterators to the range of edges between two given nodes.">getEdges</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00139">139</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<a class="anchor" id="adf2bb3bd0774fee8fd3f14f7f316aaa1"></a><!-- doxytag: member="mrpt::graphs::CDirectedGraph::getEdges" ref="adf2bb3bd0774fee8fd3f14f7f316aaa1" args="(TNodeID from_nodeID, TNodeID to_nodeID)" -->
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<td class="memname">std::pair<<a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a79519246c2bf66e78eacaffa55ca0272">iterator</a>,<a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a79519246c2bf66e78eacaffa55ca0272">iterator</a>> mrpt::graphs::CDirectedGraph::getEdges </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> </td>
<td class="paramname"><em>from_nodeID</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> </td>
<td class="paramname"><em>to_nodeID</em> </td>
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<td>)</td>
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<p>Return a pair<first,last> of iterators to the range of edges between two given nodes. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a2d858a4b74c090b99a3aa1f4c92e76d6" title="Return a reference to the content of a given edge.">getEdge</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00148">148</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<a class="anchor" id="a548e07d2c9b49ceb08610f3e4eca19dc"></a><!-- doxytag: member="mrpt::graphs::CDirectedGraph::getEdges" ref="a548e07d2c9b49ceb08610f3e4eca19dc" args="(TNodeID from_nodeID, TNodeID to_nodeID) const " -->
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<td class="memname">std::pair<<a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a8acbd51f416c2688ce308c7b04a0d41e">const_iterator</a>,<a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a8acbd51f416c2688ce308c7b04a0d41e">const_iterator</a>> mrpt::graphs::CDirectedGraph::getEdges </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> </td>
<td class="paramname"><em>from_nodeID</em>, </td>
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<td></td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> </td>
<td class="paramname"><em>to_nodeID</em> </td>
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<p>Return a pair<first,last> of const iterators to the range of edges between two given nodes. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a2d858a4b74c090b99a3aa1f4c92e76d6" title="Return a reference to the content of a given edge.">getEdge</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00152">152</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<a class="anchor" id="ab275c72b1763fb12b09f762e83ad6355"></a><!-- doxytag: member="mrpt::graphs::CDirectedGraph::getNeighborsOf" ref="ab275c72b1763fb12b09f762e83ad6355" args="(const TNodeID nodeID, std::set< TNodeID > &neighborIDs) const " -->
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<td class="memname">void mrpt::graphs::CDirectedGraph::getNeighborsOf </td>
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<td class="paramtype">const <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> </td>
<td class="paramname"><em>nodeID</em>, </td>
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<td class="paramtype"><a class="el" href="classstd_1_1set.html">std::set</a>< <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> > & </td>
<td class="paramname"><em>neighborIDs</em> </td>
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<p>Return the list of all neighbors of "nodeID", by creating a list of their node IDs. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a6b05ec8c7974689a9013c142fe82b3e5" title="Return a map from node IDs to all its neighbors (that is, connected nodes, regardless of the edge dir...">getAdjacencyMatrix</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00191">191</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<a class="anchor" id="a8db3c28b8b73e01cf5e38cef5b9ab1df"></a><!-- doxytag: member="mrpt::graphs::CDirectedGraph::insertEdge" ref="a8db3c28b8b73e01cf5e38cef5b9ab1df" args="(TNodeID from_nodeID, TNodeID to_nodeID, const edge_t &edge_value)" -->
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<td class="memname">void mrpt::graphs::CDirectedGraph::insertEdge </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> </td>
<td class="paramname"><em>from_nodeID</em>, </td>
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<td class="paramtype"><a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> </td>
<td class="paramname"><em>to_nodeID</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1graphs_1_1_c_directed_graph_1_1edge__t.html">edge_t</a> & </td>
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<p>Insert an edge (from -> to) with the given edge value. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a69842cf7adcab68da36898d217fb1977" title="Insert an edge (from -> to) with the given edge value (more efficient version to be called if you kno...">insertEdgeAtEnd</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00100">100</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<a class="anchor" id="a69842cf7adcab68da36898d217fb1977"></a><!-- doxytag: member="mrpt::graphs::CDirectedGraph::insertEdgeAtEnd" ref="a69842cf7adcab68da36898d217fb1977" args="(TNodeID from_nodeID, TNodeID to_nodeID, const edge_t &edge_value)" -->
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<td class="memname">void mrpt::graphs::CDirectedGraph::insertEdgeAtEnd </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> </td>
<td class="paramname"><em>from_nodeID</em>, </td>
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<td class="paramtype"><a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> </td>
<td class="paramname"><em>to_nodeID</em>, </td>
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<td></td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1graphs_1_1_c_directed_graph_1_1edge__t.html">edge_t</a> & </td>
<td class="paramname"><em>edge_value</em> </td>
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<p>Insert an edge (from -> to) with the given edge value (more efficient version to be called if you know that the end will go at the end of the sorted <a class="el" href="classstd_1_1multimap.html" title="STL class.">std::multimap</a>). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a8db3c28b8b73e01cf5e38cef5b9ab1df" title="Insert an edge (from -> to) with the given edge value.">insertEdge</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00109">109</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a6b82920b6172bcdaeb088c64a6c9a80f"></a><!-- doxytag: member="mrpt::graphs::CDirectedGraph::edges" ref="a6b82920b6172bcdaeb088c64a6c9a80f" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a61f20647604df391401a440bbcada042">edges_map_t</a> <a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html#a6b82920b6172bcdaeb088c64a6c9a80f">mrpt::graphs::CDirectedGraph::edges</a></td>
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<p>The public member with the directed edges in the graph. </p>
<p>Definition at line <a class="el" href="_c_directed_graph_8h_source.html#l00080">80</a> of file <a class="el" href="_c_directed_graph_8h_source.html">CDirectedGraph.h</a>.</p>
<p>Referenced by <a class="el" href="_c_directed_graph_8h_source.html#l00086">mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::begin()</a>, <a class="el" href="_c_directed_graph_8h_source.html#l00087">mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::end()</a>, <a class="el" href="_c_directed_graph_8h_source.html#l00095">mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::edgeCount()</a>, <a class="el" href="_c_directed_graph_8h_source.html#l00096">mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::clearEdges()</a>, <a class="el" href="_c_directed_graph_8h_source.html#l00100">mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::insertEdge()</a>, <a class="el" href="_c_directed_graph_8h_source.html#l00109">mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::insertEdgeAtEnd()</a>, <a class="el" href="_c_directed_graph_8h_source.html#l00118">mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::edgeExists()</a>, <a class="el" href="_c_directed_graph_8h_source.html#l00126">mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::getEdge()</a>, <a class="el" href="_c_directed_graph_8h_source.html#l00148">mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::getEdges()</a>, <a class="el" href="_c_directed_graph_8h_source.html#l00158">mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::eraseEdge()</a>, <a class="el" href="_c_directed_graph_8h_source.html#l00164">mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::getAllNodes()</a>, <a class="el" href="_c_directed_graph_8h_source.html#l00179">mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::countDifferentNodesInEdges()</a>, <a class="el" href="_c_directed_graph_8h_source.html#l00191">mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::getNeighborsOf()</a>, and <a class="el" href="_c_directed_graph_8h_source.html#l00211">mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::getAdjacencyMatrix()</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
