Graph.hpp

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//
// Created by caleb on 11/9/21.
//
 
#ifndef ANOTHERGRAPH_GRAPH_H
#define ANOTHERGRAPH_GRAPH_H
 
#include "Node.hpp"
#include "Pose2D.hpp"
#include <stack>
 
#include "vector"
#include "map"
 
 
template <typename V>
class Graph {
    protected:
        typedef std::pair<double, std::vector<Node<V>*>> pair;
        struct CustomCompare {
            bool operator()(const pair& first, const pair& second) {
                return first.first > second.first;
            }
        };
        std::vector<Node<V>*> nodes;
        std::vector<std::vector<double>> matrix;
        Node<V>* head = nullptr;
        std::map<Node<V>*, unsigned int> nodeMap;
 
 
        void resize();
 
        int numVisited(std::vector<bool> listOfBools);
 
        bool contains(Node<V>* node, std::vector<Node<V>*> listOfNodes);
 
        //void printAdjacent(Node<V>* next);
 
    public:
        void addNode(Node<V>* newNode);
 
    // void printOut();
 
        void addNode(Node<V>* nextNode, std::vector<Node<V>*> adjacentNodes, double weight);
 
        void addNode(Node<V> *nextNode, std::vector<Node<V>*> adjacentNodes);
 
        void addNode(Node<V> *nextNode, Node<V> *nodeITSLATE);
 
        void addConnection(Node<V> *one, Node<V> *two, double weight);
 
        void addConnection(Node<V> *one, Node<V> *two);
 
        void addNode(Node<V> *nextNode, Node<V> *nodeITSLATE, double weight);
 
        void setHead(int index);
 
        void removeNode(size_t index);
 
        std::vector<Node<V>*> Dijkstra(Node<V>* from, Node<V>* find);
 
        std::vector<std::vector<double>> getAdjacencyList();
 
        std::vector<Node<V>*> getAdj(Node<V>* next);
 
        std::vector<Node<V>*> getNodes();
 
    // void playGround();
 
        Graph();
 
        // std::vector<Node<V>*> FrugalKugel(Node<V>* find, unsigned int steps);
 
    ~Graph();
 
};
 
template class Graph<Pose2D>;
 
 
#endif //ANOTHERGRAPH_GRAPH_H