//ConnectedComponents PlannerPRM::connectedComponents(ComponentMap &componentMap, bool print)
void PlannerPRM::connectedComponents(ComponentMap &componentMap, ConnectedComponents &compList, bool print) const
{
//qDebug() << __FUNCTION__;
//create a vertex_index property map, since VertexList is listS and the graph does not have a "natural" index
typedef std::map<Vertex, size_t> IMap;
typedef boost::associative_property_map<IMap> IndexMap;
IMap indexMap;
IndexMap index( indexMap );
//indexing the vertices
int i=0;
BGL_FORALL_VERTICES(v, graph, Graph)
boost::put(index, v, i++);
std::vector<int> components(boost::num_vertices(graph));
boost::iterator_property_map< std::vector<int>::iterator, IndexMap> compIterMap( components.begin(), index );
int numComps = boost::connected_components(graph, compIterMap, vertex_index_map(index));
//Create a nice data structure to return info
compList.resize(numComps);
for(auto it : compList)
it = std::make_pair(0, std::vector<Vertex>());
BGL_FORALL_VERTICES(v, graph, Graph)
{
compList[get(compIterMap, v)].second.push_back( v );
compList[get(compIterMap, v)].first++;
componentMap.insert( std::pair<Vertex,int32_t>( v, get(compIterMap, v )));
}
int
main(int,char*[])
{
Triangulation t;
Filter is_finite(t);
Finite_triangulation ft(t, is_finite, is_finite);
Point p ;
while(std::cin >> p) {
t.insert(p);
}
vertex_iterator vit, ve;
// Associate indices to the vertices
int index = 0;
// boost::tie assigns the first and second element of the std::pair
// returned by boost::vertices to the variables vit and ve
for(boost::tie(vit,ve)=boost::vertices(ft); vit!=ve; ++vit ) {
vertex_descriptor vd = *vit;
vertex_id_map[vd]= index++;
}
// We use the default edge weight which is the squared length of the edge
// This property map is defined in graph_traits_Triangulation_2.h
// In the function call you can see a named parameter: vertex_index_map
std::list<edge_descriptor> mst;
boost::kruskal_minimum_spanning_tree(t,
std::back_inserter(mst),
vertex_index_map(vertex_index_pmap));
std::cout << "The edges of the Euclidean mimimum spanning tree:" << std::endl;
for(std::list<edge_descriptor>::iterator it = mst.begin(); it != mst.end(); ++it) {
edge_descriptor ed = *it;
vertex_descriptor svd = boost::source(ed,t);
vertex_descriptor tvd = boost::target(ed,t);
Triangulation::Vertex_handle sv = svd;
Triangulation::Vertex_handle tv = tvd;
std::cout << "[ " << sv->point() << " | " << tv->point() << " ] " << std::endl;
}
return 0;
}
