A GraphFileLoader plugin to load a geojson graph representation. More...

#include <nav2_route/include/nav2_route/plugins/graph_file_loaders/geojson_graph_file_loader.hpp>

Inheritance diagram for nav2_route::GeoJsonGraphFileLoader:

Collaboration diagram for nav2_route::GeoJsonGraphFileLoader:

Public Types
using	Json = nlohmann::json

Public Types inherited from nav2_route::GraphFileLoader
using	Ptr = std::shared_ptr< GraphFileLoader >

Public Member Functions
	GeoJsonGraphFileLoader ()=default
	Constructor.

	~GeoJsonGraphFileLoader ()=default
	Destructor.

void	configure (const rclcpp_lifecycle::LifecycleNode::SharedPtr node) override
	Configure, but do not store the node. More...

bool	loadGraphFromFile (Graph &graph, GraphToIDMap &graph_to_id_map, std::string filepath) override
	Loads the geojson file into the graph. More...

Public Member Functions inherited from nav2_route::GraphFileLoader
	GraphFileLoader ()=default
	Constructor.

virtual	~GraphFileLoader ()=default
	Virtual destructor.

Protected Member Functions
bool	doesFileExist (const std::string &filepath)
	Checks if a file even exists on the filesystem. More...

void	getGraphElements (const Json &features, std::vector< Json > &nodes, std::vector< Json > &edges)
	Get the nodes and edges from features. More...

void	addNodesToGraph (Graph &graph, GraphToIDMap &graph_to_id_map, std::vector< Json > &nodes)
	Add nodes into the graph. More...

void	addEdgesToGraph (Graph &graph, GraphToIDMap &graph_to_id_map, std::vector< Json > &edges)
	Add edges into the graph. More...

Coordinates	convertCoordinatesFromJson (const Json &node)
	Converts the coordinates from the json object into the Coordinates type. More...

Metadata	convertMetaDataFromJson (const Json &properties, const std::string &key="metadata")
	Converts the metadata from the json object into the metadata type. More...

Operation	convertOperationFromJson (const Json &json_operation)
	Converts the operation from the json object into the operation type. More...

Operations	convertOperationsFromJson (const Json &properties)
	Converts the operations data from the json object into the operations type if present. More...

EdgeCost	convertEdgeCostFromJson (const Json &properties)
	Converts the edge cost data from the json object into the edge cost type. More...

Protected Attributes
rclcpp::Logger	logger_ {rclcpp::get_logger("GeoJsonGraphFileLoader")}

Detailed Description

A GraphFileLoader plugin to load a geojson graph representation.

Definition at line 33 of file geojson_graph_file_loader.hpp.

Member Function Documentation

◆ addEdgesToGraph()

void nav2_route::GeoJsonGraphFileLoader::addEdgesToGraph	(	Graph &	graph,
		GraphToIDMap &	graph_to_id_map,
		std::vector< Json > &	edges
	)

protected

Add edges into the graph.

Parameters

[out]	graph	The graph that will contain the new edges
[in]	graph_to_id_map	A map of node id to the graph id
[in]	edges	The edges to be added into the graph

Definition at line 102 of file geojson_graph_file_loader.cpp.

References convertEdgeCostFromJson(), convertMetaDataFromJson(), and convertOperationsFromJson().

Referenced by loadGraphFromFile().

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◆ addNodesToGraph()

void nav2_route::GeoJsonGraphFileLoader::addNodesToGraph	(	Graph &	graph,
		GraphToIDMap &	graph_to_id_map,
		std::vector< Json > &	nodes
	)

protected

Add nodes into the graph.

Parameters

[out]	graph	The graph that will contain the new nodes
[out]	graph_to_id_map	A map of node id to the graph index
[in]	nodes	The nodes to be added into the graph

Definition at line 87 of file geojson_graph_file_loader.cpp.

References convertCoordinatesFromJson(), convertMetaDataFromJson(), and convertOperationsFromJson().

Referenced by loadGraphFromFile().

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◆ configure()

void nav2_route::GeoJsonGraphFileLoader::configure ( const rclcpp_lifecycle::LifecycleNode::SharedPtr node )

overridevirtual

Configure, but do not store the node.

Parameters

parent pointer to user's node

Implements nav2_route::GraphFileLoader.

Definition at line 25 of file geojson_graph_file_loader.cpp.

◆ convertCoordinatesFromJson()

Coordinates nav2_route::GeoJsonGraphFileLoader::convertCoordinatesFromJson ( const Json & node )

protected

Converts the coordinates from the json object into the Coordinates type.

Parameters

node	The json object that holds the coordinate data

Returns: The coordinates found in the json object

Definition at line 132 of file geojson_graph_file_loader.cpp.

Referenced by addNodesToGraph().

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◆ convertEdgeCostFromJson()

EdgeCost nav2_route::GeoJsonGraphFileLoader::convertEdgeCostFromJson ( const Json & properties )

protected

Converts the edge cost data from the json object into the edge cost type.

Parameters

properties The json object that holds the edge cost data

Returns: EdgeCost The converted edge cost data

Definition at line 225 of file geojson_graph_file_loader.cpp.

Referenced by addEdgesToGraph().

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◆ convertMetaDataFromJson()

Metadata nav2_route::GeoJsonGraphFileLoader::convertMetaDataFromJson	(	const Json &	properties,
		const std::string &	key = `"metadata"`
	)

protected

Converts the metadata from the json object into the metadata type.

Parameters

properties	The json object that holds the metadata
key	The key for the metadata

Returns: The converted metadata

Definition at line 147 of file geojson_graph_file_loader.cpp.

Referenced by addEdgesToGraph(), addNodesToGraph(), and convertOperationFromJson().

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◆ convertOperationFromJson()

Operation nav2_route::GeoJsonGraphFileLoader::convertOperationFromJson ( const Json & json_operation )

protected

Converts the operation from the json object into the operation type.

Parameters

json_operation The json object that holds the operation data

Returns: The converted operation data

Definition at line 202 of file geojson_graph_file_loader.cpp.

References convertMetaDataFromJson().

Referenced by convertOperationsFromJson().

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◆ convertOperationsFromJson()

Operations nav2_route::GeoJsonGraphFileLoader::convertOperationsFromJson ( const Json & properties )

protected

Converts the operations data from the json object into the operations type if present.

Parameters

properties The json object that holds the operations data

Returns: Operations The converted operations data

Definition at line 214 of file geojson_graph_file_loader.cpp.

References convertOperationFromJson().

Referenced by addEdgesToGraph(), and addNodesToGraph().

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◆ doesFileExist()

bool nav2_route::GeoJsonGraphFileLoader::doesFileExist ( const std::string & filepath )

protected

Checks if a file even exists on the filesystem.

Parameters

filepath The filepath to be checked

Returns: True if the file path provided exists

Definition at line 67 of file geojson_graph_file_loader.cpp.

Referenced by loadGraphFromFile().

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◆ getGraphElements()

void nav2_route::GeoJsonGraphFileLoader::getGraphElements	(	const Json &	features,
		std::vector< Json > &	nodes,
		std::vector< Json > &	edges
	)

protected

Get the nodes and edges from features.

Parameters

[in]	features	The features that contain the nodes and edges
[out]	nodes	The nodes found within the features
[out]	edges	The edges found within the features

Definition at line 72 of file geojson_graph_file_loader.cpp.

Referenced by loadGraphFromFile().

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◆ loadGraphFromFile()

bool nav2_route::GeoJsonGraphFileLoader::loadGraphFromFile	(	Graph &	graph,
		GraphToIDMap &	graph_to_id_map,
		std::string	filepath
	)

overridevirtual

Loads the geojson file into the graph.

Parameters

graph	The graph to be populated by the geojson file
graph_to_id_map	A map of node id's to the graph index
filepath	The path of the file to load

Returns: True if the graph was successfully loaded

Implements nav2_route::GraphFileLoader.

Definition at line 32 of file geojson_graph_file_loader.cpp.

References addEdgesToGraph(), addNodesToGraph(), doesFileExist(), and getGraphElements().

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

nav2_route/include/nav2_route/plugins/graph_file_loaders/geojson_graph_file_loader.hpp
nav2_route/src/plugins/graph_file_loaders/geojson_graph_file_loader.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ addEdgesToGraph()

◆ addNodesToGraph()

◆ configure()

◆ convertCoordinatesFromJson()

◆ convertEdgeCostFromJson()

◆ convertMetaDataFromJson()

◆ convertOperationFromJson()

◆ convertOperationsFromJson()

◆ doesFileExist()

◆ getGraphElements()

◆ loadGraphFromFile()