alchemist/it.unibo.alchemist.model.geometry.navigationgraph/UndirectedNavigationGraph

UndirectedNavigationGraph

class UndirectedNavigationGraph<V : Vector<V>, A : Transformation<V>, N : ConvexShape<V, A>, E>(edgeClass: Class<out E>) : BaseNavigationGraph<V, A, N, E>

An undirected unweighted BaseNavigationGraph, allowing multiple edges between the same pair of vertices and without self-loops (i.e. edges connecting a node to itself).

Constructors

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constructor(edgeClass: Class<out E>)

Properties

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val type: GraphType
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Functions

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abstract fun addEdge(p0: N, p1: N): E
abstract fun addEdge(p0: N, p1: N, p2: E): Boolean
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abstract fun addVertex(): N
abstract fun addVertex(p0: N): Boolean
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open override fun clone(): Any
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abstract fun containsEdge(p0: E): Boolean
abstract fun containsEdge(p0: N, p1: N): Boolean
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abstract fun containsVertex(p0: N): Boolean
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abstract fun degreeOf(p0: N): Int
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abstract fun edgeSet(): MutableSet<E>
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abstract fun edgesOf(p0: N): MutableSet<E>
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abstract fun getAllEdges(p0: N, p1: N): MutableSet<E>
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abstract fun getEdge(p0: N, p1: N): E
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abstract fun getEdgeSource(p0: E): N
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abstract fun getEdgeTarget(p0: E): N
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abstract fun getEdgeWeight(p0: E): Double
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abstract fun incomingEdgesOf(p0: N): MutableSet<E>
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abstract fun inDegreeOf(p0: N): Int
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open fun iterables(): GraphIterables<N, E>
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open fun nodeContaining(position: V): N?
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abstract fun outDegreeOf(p0: N): Int
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abstract fun outgoingEdgesOf(p0: N): MutableSet<E>
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fun <V> Graph<V, *>.pathExists(source: V, sink: V): Boolean

Checks whether a path exists between source and sink. DijkstraShortestPath is used instead of org.jgrapht.alg.connectivity.ConnectivityInspector.pathExists, because, in case of directed graph, the latter checks whether the given vertices lay in the same weakly connected component, which is not the desired behavior. As unweighted graphs have a default edge weight of 1.0, shortest path algorithms can always be applied meaningfully.

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abstract fun removeAllEdges(p0: MutableCollection<out E>): Boolean
abstract fun removeAllEdges(p0: N, p1: N): MutableSet<E>
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abstract fun removeAllVertices(p0: MutableCollection<out N>): Boolean
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abstract fun removeEdge(p0: E): Boolean
abstract fun removeEdge(p0: N, p1: N): E
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abstract fun removeVertex(p0: N): Boolean
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abstract fun setEdgeWeight(p0: E, p1: Double)
open fun setEdgeWeight(p0: N, p1: N, p2: Double)
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abstract fun vertexSet(): MutableSet<N>