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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
<li class="navelem"><a class="el" href="namespacemrpt_1_1graphs.html">graphs</a> </li>
<li class="navelem"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_tree.html">CDirectedTree</a> </li>
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<div class="title">mrpt::graphs::CDirectedTree 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::CDirectedTree" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A special kind of graph in the form of a tree with directed edges and optional edge annotations of templatized type "TYPE_EDGES". </p>
<p>The tree is represented by means of:</p>
<ul>
<li><em>root:</em> The ID of the root node.</li>
<li><em>edges_to_children:</em> A map from node ID to all the edges to its children.</li>
</ul>
<p>This class is less general than <a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html" title="A directed graph with the argument of the template specifying the type of the annotations in the edge...">CDirectedGraph</a> but more efficient to traverse (see <em>visitDepthFirst</em> and <em>visitBreadthFirst</em>).</p>
<p>If annotations in edges are not required, you can leave TYPE_EDGES to its default type "uint8_t". </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html" title="A directed graph with the argument of the template specifying the type of the annotations in the edge...">CDirectedGraph</a>, <a class="el" href="classmrpt_1_1graphs_1_1_c_dijkstra.html" title="The Dijkstra algorithm for finding the shortest path between a given source node in a (weighted) dire...">CDijkstra</a>, <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>, </dd></dl>
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<p><code>#include <<a class="el" href="_c_directed_tree_8h_source.html">mrpt/graphs/CDirectedTree.h</a>></code></p>
<p><a href="classmrpt_1_1graphs_1_1_c_directed_tree-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_tree_1_1_t_edge_info.html">TEdgeInfo</a></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_tree_1_1_visitor.html">Visitor</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Virtual base class for user-defined visitors. <a href="structmrpt_1_1graphs_1_1_c_directed_tree_1_1_visitor.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 <a class="el" href="classstd_1_1list.html">std::list</a>< <a class="el" href="structmrpt_1_1graphs_1_1_c_directed_tree_1_1_t_edge_info.html">TEdgeInfo</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_tree.html#a66c4512d71c6610d93f6e5f5341143fd">TListEdges</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1map.html">std::map</a>< <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a>, <br class="typebreak"/>
<a class="el" href="classmrpt_1_1graphs_1_1_c_directed_tree.html#a66c4512d71c6610d93f6e5f5341143fd">TListEdges</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_tree.html#aec4dfc04eb7b1a5a42f4e37fb87a85fa">TMapNode2ListEdges</a></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td colspan="2"><div class="groupHeader">Utilities</div></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_tree.html#adc8f90b30fd8e07a984fe19b8a360b8c">clear</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Empty all edge data and set "root" to INVALID_NODEID. <a href="#adc8f90b30fd8e07a984fe19b8a360b8c"></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_tree.html#a3c865f7abff4499faaf87f09065d0a5a">visitDepthFirst</a> (const <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> <a class="el" href="classmrpt_1_1graphs_1_1_c_directed_tree.html#abe1d11c870b7f6959c3a1ed7e80d09c6">root</a>, <a class="el" href="structmrpt_1_1graphs_1_1_c_directed_tree_1_1_visitor.html">Visitor</a> &user_visitor, const size_t root_depth_level=0) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Depth-first visit of all children nodes of a given root (itself excluded from the visit), invoking a user-provided function for each node/edge. <a href="#a3c865f7abff4499faaf87f09065d0a5a"></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_tree.html#ad9ca00ddc3f9f8434c9958829986b00d">visitBreadthFirst</a> (const <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> <a class="el" href="classmrpt_1_1graphs_1_1_c_directed_tree.html#abe1d11c870b7f6959c3a1ed7e80d09c6">root</a>, <a class="el" href="structmrpt_1_1graphs_1_1_c_directed_tree_1_1_visitor.html">Visitor</a> &user_visitor, const size_t root_depth_level=0) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Breadth-first visit of all children nodes of a given root (itself excluded from the visit), invoking a user-provided function for each node/edge. <a href="#ad9ca00ddc3f9f8434c9958829986b00d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_tree.html#a256e7fc87002b49d6e0b3c6569e1e86c">getAsTextDescription</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return a text representation of the tree spanned in a depth-first view, as in this example: <a href="#a256e7fc87002b49d6e0b3c6569e1e86c"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td colspan="2"><div class="groupHeader">Data</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><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_tree.html#abe1d11c870b7f6959c3a1ed7e80d09c6">root</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The root of the tree. <a href="#abe1d11c870b7f6959c3a1ed7e80d09c6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_tree.html#aec4dfc04eb7b1a5a42f4e37fb87a85fa">TMapNode2ListEdges</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_tree.html#a35deef833923a007dd80797da31854ee">edges_to_children</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The edges of each node. <a href="#a35deef833923a007dd80797da31854ee"></a><br/></td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a66c4512d71c6610d93f6e5f5341143fd"></a><!-- doxytag: member="mrpt::graphs::CDirectedTree::TListEdges" ref="a66c4512d71c6610d93f6e5f5341143fd" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1list.html">std::list</a><<a class="el" href="structmrpt_1_1graphs_1_1_c_directed_tree_1_1_t_edge_info.html">TEdgeInfo</a>> <a class="el" href="classmrpt_1_1graphs_1_1_c_directed_tree.html#a66c4512d71c6610d93f6e5f5341143fd">mrpt::graphs::CDirectedTree::TListEdges</a></td>
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<p>Definition at line <a class="el" href="_c_directed_tree_8h_source.html#l00064">64</a> of file <a class="el" href="_c_directed_tree_8h_source.html">CDirectedTree.h</a>.</p>
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<a class="anchor" id="aec4dfc04eb7b1a5a42f4e37fb87a85fa"></a><!-- doxytag: member="mrpt::graphs::CDirectedTree::TMapNode2ListEdges" ref="aec4dfc04eb7b1a5a42f4e37fb87a85fa" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1map.html">std::map</a><<a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a>,<a class="el" href="classmrpt_1_1graphs_1_1_c_directed_tree.html#a66c4512d71c6610d93f6e5f5341143fd">TListEdges</a>> <a class="el" href="classmrpt_1_1graphs_1_1_c_directed_tree.html#aec4dfc04eb7b1a5a42f4e37fb87a85fa">mrpt::graphs::CDirectedTree::TMapNode2ListEdges</a></td>
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<p>Definition at line <a class="el" href="_c_directed_tree_8h_source.html#l00065">65</a> of file <a class="el" href="_c_directed_tree_8h_source.html">CDirectedTree.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="adc8f90b30fd8e07a984fe19b8a360b8c"></a><!-- doxytag: member="mrpt::graphs::CDirectedTree::clear" ref="adc8f90b30fd8e07a984fe19b8a360b8c" args="()" -->
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<td class="memname">void mrpt::graphs::CDirectedTree::clear </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Empty all edge data and set "root" to INVALID_NODEID. </p>
<p>Definition at line <a class="el" href="_c_directed_tree_8h_source.html#l00077">77</a> of file <a class="el" href="_c_directed_tree_8h_source.html">CDirectedTree.h</a>.</p>
<p>References <a class="el" href="_c_directed_tree_8h_source.html#l00070">edges_to_children</a>, <a class="el" href="_c_directed_tree_8h_source.html#l00069">root</a>, and <a class="el" href="base_2include_2mrpt_2utils_2types_8h_source.html#l00155">INVALID_NODEID</a>.</p>
<p>Referenced by <a class="el" href="dijkstra_8h_source.html#l00303">mrpt::graphs::CDijkstra::getTreeGraph()</a>.</p>
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<a class="anchor" id="a256e7fc87002b49d6e0b3c6569e1e86c"></a><!-- doxytag: member="mrpt::graphs::CDirectedTree::getAsTextDescription" ref="a256e7fc87002b49d6e0b3c6569e1e86c" args="() const " -->
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<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> mrpt::graphs::CDirectedTree::getAsTextDescription </td>
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<p>Return a text representation of the tree spanned in a depth-first view, as in this example: </p>
<div class="fragment"><pre class="fragment"> 0
-> 1
-> 2
-> 4
-> 5
-> 3
</pre></div>
<p>Definition at line <a class="el" href="_c_directed_tree_8h_source.html#l00130">130</a> of file <a class="el" href="_c_directed_tree_8h_source.html">CDirectedTree.h</a>.</p>
<p>References <a class="el" href="_c_directed_tree_8h_source.html#l00061">mrpt::graphs::CDirectedTree::TEdgeInfo::reverse</a>, <a class="el" href="_c_directed_tree_8h_source.html#l00060">mrpt::graphs::CDirectedTree::TEdgeInfo::id</a>, <a class="el" href="_c_directed_tree_8h_source.html#l00069">root</a>, and <a class="el" href="_c_directed_tree_8h_source.html#l00094">visitDepthFirst()</a>.</p>
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<a class="anchor" id="ad9ca00ddc3f9f8434c9958829986b00d"></a><!-- doxytag: member="mrpt::graphs::CDirectedTree::visitBreadthFirst" ref="ad9ca00ddc3f9f8434c9958829986b00d" args="(const TNodeID root, Visitor &user_visitor, const size_t root_depth_level=0) const " -->
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<td class="memname">void mrpt::graphs::CDirectedTree::visitBreadthFirst </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> </td>
<td class="paramname"><em>root</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1graphs_1_1_c_directed_tree_1_1_visitor.html">Visitor</a> & </td>
<td class="paramname"><em>user_visitor</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const size_t </td>
<td class="paramname"><em>root_depth_level</em> = <code>0</code> </td>
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<td>)</td>
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<p>Breadth-first visit of all children nodes of a given root (itself excluded from the visit), invoking a user-provided function for each node/edge. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_tree.html#a3c865f7abff4499faaf87f09065d0a5a" title="Depth-first visit of all children nodes of a given root (itself excluded from the visit)...">visitDepthFirst</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_directed_tree_8h_source.html#l00108">108</a> of file <a class="el" href="_c_directed_tree_8h_source.html">CDirectedTree.h</a>.</p>
<p>References <a class="el" href="_c_directed_tree_8h_source.html#l00070">edges_to_children</a>, and <a class="el" href="_c_directed_tree_8h_source.html#l00094">visitDepthFirst()</a>.</p>
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<a class="anchor" id="a3c865f7abff4499faaf87f09065d0a5a"></a><!-- doxytag: member="mrpt::graphs::CDirectedTree::visitDepthFirst" ref="a3c865f7abff4499faaf87f09065d0a5a" args="(const TNodeID root, Visitor &user_visitor, const size_t root_depth_level=0) const " -->
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<td class="memname">void mrpt::graphs::CDirectedTree::visitDepthFirst </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> </td>
<td class="paramname"><em>root</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1graphs_1_1_c_directed_tree_1_1_visitor.html">Visitor</a> & </td>
<td class="paramname"><em>user_visitor</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const size_t </td>
<td class="paramname"><em>root_depth_level</em> = <code>0</code> </td>
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<p>Depth-first visit of all children nodes of a given root (itself excluded from the visit), invoking a user-provided function for each node/edge. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_tree.html#ad9ca00ddc3f9f8434c9958829986b00d" title="Breadth-first visit of all children nodes of a given root (itself excluded from the visit)...">visitBreadthFirst</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_directed_tree_8h_source.html#l00094">94</a> of file <a class="el" href="_c_directed_tree_8h_source.html">CDirectedTree.h</a>.</p>
<p>References <a class="el" href="_c_directed_tree_8h_source.html#l00070">edges_to_children</a>.</p>
<p>Referenced by <a class="el" href="_c_directed_tree_8h_source.html#l00108">visitBreadthFirst()</a>, and <a class="el" href="_c_directed_tree_8h_source.html#l00130">getAsTextDescription()</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a35deef833923a007dd80797da31854ee"></a><!-- doxytag: member="mrpt::graphs::CDirectedTree::edges_to_children" ref="a35deef833923a007dd80797da31854ee" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_tree.html#aec4dfc04eb7b1a5a42f4e37fb87a85fa">TMapNode2ListEdges</a> <a class="el" href="classmrpt_1_1graphs_1_1_c_directed_tree.html#a35deef833923a007dd80797da31854ee">mrpt::graphs::CDirectedTree::edges_to_children</a></td>
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<p>The edges of each node. </p>
<p>Definition at line <a class="el" href="_c_directed_tree_8h_source.html#l00070">70</a> of file <a class="el" href="_c_directed_tree_8h_source.html">CDirectedTree.h</a>.</p>
<p>Referenced by <a class="el" href="_c_directed_tree_8h_source.html#l00077">clear()</a>, <a class="el" href="_c_directed_tree_8h_source.html#l00094">visitDepthFirst()</a>, <a class="el" href="_c_directed_tree_8h_source.html#l00108">visitBreadthFirst()</a>, and <a class="el" href="dijkstra_8h_source.html#l00303">mrpt::graphs::CDijkstra::getTreeGraph()</a>.</p>
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<a class="anchor" id="abe1d11c870b7f6959c3a1ed7e80d09c6"></a><!-- doxytag: member="mrpt::graphs::CDirectedTree::root" ref="abe1d11c870b7f6959c3a1ed7e80d09c6" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">TNodeID</a> <a class="el" href="classmrpt_1_1graphs_1_1_c_directed_tree.html#abe1d11c870b7f6959c3a1ed7e80d09c6">mrpt::graphs::CDirectedTree::root</a></td>
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<p>The root of the tree. </p>
<p>Definition at line <a class="el" href="_c_directed_tree_8h_source.html#l00069">69</a> of file <a class="el" href="_c_directed_tree_8h_source.html">CDirectedTree.h</a>.</p>
<p>Referenced by <a class="el" href="_c_directed_tree_8h_source.html#l00077">clear()</a>, <a class="el" href="_c_directed_tree_8h_source.html#l00130">getAsTextDescription()</a>, and <a class="el" href="dijkstra_8h_source.html#l00303">mrpt::graphs::CDijkstra::getTreeGraph()</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>
