diff --git a/README.md b/README.md index a6545fe7..5cd4794e 100644 --- a/README.md +++ b/README.md @@ -34,7 +34,7 @@ [![powered by Matplotlib](https://img.shields.io/badge/powered_by-Matplotlib-11557c?logo=matplotlib&logoColor=white)](https://matplotlib.org) [![Powered by Spatial Maths](https://raw.githubusercontent.com/petercorke/spatialmath-python/master/.github/svg/sm_powered.min.svg)](https://github.com/petercorke/spatialmath-python) -This package provides classes for directed and undirected graphs: vertices +This pure-Python package provides classes for directed and undirected graphs: vertices connected by edges, with edge costs and path planning. Self-loops and parallel edges are permitted. @@ -66,7 +66,7 @@ for route in routes: g.add_edge(route[0], route[1], cost=route[2]) # plan a path from Hughenden to Brisbane -p = g.path_Astar('Hughenden', 'Brisbane') +p, length, _ = g.path_Astar('Hughenden', 'Brisbane') g.plot(block=False) # plot it g.highlight_path(p) # overlay the path ``` @@ -85,6 +85,7 @@ Graphs belong to the class `UGraph` or `DGraph` for undirected or directed graph - `g.plot()` plots the vertices and edges - `g.nc` the number of graph components, 1 if fully connected - `g.component(v)` the component that vertex `v` belongs to +- `g.samecomponent(v1, v2)` predicate for vertices belonging to the same component *** - `g.path_BFS()` breadth-first search @@ -101,13 +102,12 @@ Vertices are instances of the class `Vertex`, for both undirected and directed g - `v.coord` the coordinate vector for embedded graph (optional) - `v.name` the name of the vertex (optional) - `v.adjacent()` is a list of the adjacent vertices (`neighbours()` and `neighbors()` are the same) -- `v1.samecomponent(v2)` predicate for vertices belonging to the same component Vertices can be named and referenced by name. ### Properties and methods of an edge Edges are instances of the class `Edge`. -Each edge references a pair of vertices, the graph lists all of its edges in `g.edges()`, and the vertices reference the edges. For a directed graph only the start vertex of an edge references the edge object, whereas for an undirected graph both vertices reference the edge object. +Each edge references a pair of vertices, the graph lists all of its edges in `g.edges()`, and the vertices reference the edges. - `e.cost` cost of edge for planning methods - `e.next(v)` vertex on edge `e` that is not `v` @@ -115,13 +115,13 @@ Each edge references a pair of vertices, the graph lists all of its edges in `g. ## Modifying a graph -- `g.remove(v)` remove vertex `v` -- `e.remove()` remove edge `e` +- `g.remove_vertex(v)` or `v.remove()` remove vertex `v` +- `g.remove_edge(e)` or `e.remove()` remove edge `e` -## Subclasing pgraph classes +## Subclassing pgraph classes -Consider a user class `Foo` that we would like to connect using a graph _overlay_, ie. -instances of `Foo` becomes vertices in a graph. +Consider a user class `Foo` that we would like to connect using a graph _overlay_, i.e. +instances of `Foo` become vertices in a graph. - Have it subclass `Vertex` - Then place instances of `Foo` into the graph using `add_vertex` and create edges as required @@ -138,8 +138,8 @@ g.add_vertex(f1) g.add_vertex(f2) f1.connect(f2, cost=3) -for f in f1.neighbours(): - # say hi to the neighbours +for f in f1.adjacent(): + f.say_hi() # say hi to the neighbours ``` ## MATLAB version diff --git a/docs/figs/datastructures.ezdraw b/docs/figs/datastructures.ezdraw index 1cb41848..14b88883 100644 --- a/docs/figs/datastructures.ezdraw +++ b/docs/figs/datastructures.ezdraw @@ -488,6 +488,16 @@ 0 BinMatches + + Family + Courier + Name + Courier + Size + 11 + Traits + 400 + Family Courier @@ -526,16 +536,6 @@ Traits 22 - - Family - Courier - Name - Courier - Size - 11 - Traits - 400 - @@ -556,6 +556,25 @@ Font 0 ForeColor + + BluePlus + 0.574155 + ColorSpacePlus + DKDsRgbColorSpace + GreenPlus + 0.574162 + OpacityPlus + 1 + RedPlus + 0.574149 + + Paragraph + 0 + + + Font + 16 + ForeColor ColorSpace 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305.418476323,174.737646123 352.453549296,173.87057722 AttributedText String - _edges + _edgelist TextAttribute 0 Bounds - {{324.236569375, 338.377538768}, {78.3773221901, 21.0231661209}} + {{305.142026987, 319.899152703}, {78.3773221901, 21.0231661209}} Class DKDTextArea GraphicID @@ -1778,7 +1835,7 @@ String v1 TextAttribute - 0 + 16 Bounds {{358.242750341, 142.935407683}, {31.0306494531, 21.0231661209}} @@ -1796,7 +1853,7 @@ v2 TextAttribute - 0 + 16 Bounds {{358.236818933, 163.775211565}, {30.9110329578, 22.1917445833}} @@ -1811,13 +1868,13 @@ AttributedText String - BaseVertex subclass + Vertex subclass TextAttributes - {0, 10} - 16 - {10, 9} + {0, 6} 32 + {6, 9} + 48 Bounds @@ -1837,9 +1894,9 @@ TextAttributes {0, 4} - 16 - {4, 9} 32 + {4, 9} + 48 Bounds @@ -1885,28 +1942,6 @@ GraphicStyle 8 - - Class - DKDLine - DkBezArrow - 42 - GraphicID - 8943FD83 - GraphicStyle - 24 - SVGPath - M406.357824521,669.095927494 L548.400446629,564.235270321 - - - Bounds - {{324.939149762, 681.471838886}, {87.782600853, 16.648764451}} - Class - DKDRectangle - GraphicID - 9943FD83 - GraphicStyle - 8 - Class DKDContinuousBezier @@ -1917,24 +1952,7 @@ GraphicStyle 40 SVGPath - M347.366521058,690.007129763 C347.366521058,690.007129763 347.366521058,690.007129763 347.366521058,690.007129763 C349.159540156,653.706242208 306.028493317,628.219622855 300.142231515,598.665456798 C295.167899934,573.689975489 307.044296477,540.532783177 344.400681524,538.397658552 - - - AttributedText - - String - _edges - TextAttribute - 0 - - Bounds - {{343.195076867, 697.810749885}, {78.3773221901, 21.0231661209}} - Class - DKDTextArea - GraphicID - B943FD83 - GraphicStyle - 10 + M343.488589982,678.936679415 C343.488589982,678.936679415 343.488589982,678.936679415 343.488589982,678.936679415 C345.28160908,642.63579186 302.150562241,617.149172507 296.264300439,587.59500645 C291.289968858,562.619525141 308.054021927,543.956332139 345.410406974,541.821207514 Class @@ -1966,7 +1984,7 @@ String v1 TextAttribute - 0 + 16 Bounds {{377.201257832, 502.368618799}, {31.0306494531, 21.0231661209}} @@ -1984,7 +2002,7 @@ v2 TextAttribute - 0 + 16 Bounds {{377.195326424, 523.208422682}, {30.9996031922, 21.0231661209}} @@ -2003,9 +2021,9 @@ TextAttributes {0, 4} - 16 - {4, 9} 32 + {4, 9} + 48 Bounds @@ -2027,50 +2045,6 @@ GraphicStyle 8 - - AttributedText - - String - _edges - TextAttribute - 0 - - Bounds - {{534.088235453, 188.282062602}, {78.3773221901, 21.0231661209}} - Class - DKDTextArea - GraphicID - 53C31293 - GraphicStyle - 10 - - - Bounds - {{534.932171445, 530.358084862}, {87.782600853, 16.648764451}} - Class - DKDRectangle - GraphicID - 895D5293 - GraphicStyle - 8 - - - AttributedText - - String - _edges - TextAttribute - 0 - - Bounds - {{553.18809855, 546.696995861}, {78.3773221901, 21.0231661209}} - Class - DKDTextArea - GraphicID - 995D5293 - GraphicStyle - 10 - Class DKDBezier @@ -2081,7 +2055,7 @@ GraphicStyle 56 SVGPath - M564.492647498,180.026681355 C564.492647498,180.026681355 564.492647498,180.026681355 564.492647498,180.026681355 C560.983309031,74.6526353337 486.944971131,55.5961066657 424.350870745,56.9055010207 C246.769676444,66.1107318805 267.032048519,152.262249804 327.980615122,151.478502838 + M564.058514333,176.612886094 C564.058514333,176.612886094 564.058514333,176.612886094 564.058514333,176.612886094 C560.549175866,71.2388400723 486.510837966,52.1823114043 423.91673758,53.4917057593 C246.335543279,62.6969366191 266.597915354,148.848454543 327.546481957,148.064707577 AttributedText @@ -2089,7 +2063,7 @@ String Undirected graph TextAttribute - 48 + 64 Bounds {{450.645030196, 262.075333739}, {202.348893933, 34.1385596992}} @@ -2106,7 +2080,7 @@ String Directed graph TextAttribute - 48 + 64 Bounds {{466.989245863, 625.572791511}, {175.234506692, 31.2274995402}} @@ -2123,10 +2097,10 @@ String v1 is always the start vertex TextAttribute - 64 + 80 Bounds - {{434.664097974, 443.914155611}, {87.7526987382, 35.5524288103}} + {{377.841432429, 425.845636576}, {91.0664192974, 38.8223884736}} Class DKDTextArea GraphicID @@ -2142,7 +2116,7 @@ GraphicStyle 72 SVGPath - M433.580362928,463.945782216 L398.62784885,502.411477667 + M377.03248579,530.967760039 L348.22937856,470.238716902 AttributedText @@ -2150,7 +2124,7 @@ String order doesn't matter TextAttribute - 64 + 80 Bounds {{413.920132976, 87.3386642252}, {85.897378884, 35.5524288103}} @@ -2175,12 +2149,12 @@ AttributedText String - list of Edges + list of Edges for this vertex TextAttribute - 64 + 80 Bounds - {{433.509267317, 316.225318777}, {85.897378884, 18.9174921865}} + {{434.143394411, 315.069505238}, {93.9776214349, 34.7378052099}} Class DKDTextArea GraphicID @@ -2188,27 +2162,17 @@ GraphicStyle 72 - - Class - DKDLine - GraphicID - 7462B9A3 - GraphicStyle - 72 - SVGPath - M393.192917989,331.806383095 L432.633093519,326.734821747 - AttributedText String - BaseVertex subclass + Vertex subclass TextAttributes - {0, 10} - 16 - {10, 9} + {0, 6} 32 + {6, 9} + 48 Bounds @@ -2224,13 +2188,13 @@ AttributedText String - BaseVertex subclass + Vertex subclass TextAttributes - {0, 10} - 16 - {10, 9} + {0, 6} 32 + {6, 9} + 48 Bounds @@ -2246,13 +2210,13 @@ AttributedText String - BaseVertex subclass + Vertex subclass TextAttributes - {0, 10} - 16 - {10, 9} + {0, 6} 32 + {6, 9} + 48 Bounds @@ -2264,40 +2228,40 @@ GraphicStyle 10 + + AttributedText + + String + UGraph class + TextAttributes + + {0, 6} + 32 + {6, 6} + 48 + + + Bounds + {{51.8587585339, 221.040758468}, {121.597735034, 32.1481976616}} + Class + DKDTextArea + GraphicID + D962B6B1 + GraphicStyle + 10 + Bounds - {{56.1300036422, 117.007832584}, {179.748202765, 138.79904252}} + {{56.1300036422, 117.007832584}, {179.748202765, 102.160261623}} Class DKDGroup GraphicID - A1C73EB1 + BBFAD8B4 GroupGraphics - - AttributedText - - String - _BaseGraph class - TextAttributes - - {0, 10} - 16 - {10, 6} - 32 - - - Bounds - {{68.0289994371, 223.658677443}, {121.597735034, 32.1481976616}} - Class - DKDTextArea - GraphicID - D962B6B1 - GraphicStyle - 10 - Bounds - {{139.483420339, 132.525658238}, {87.782600853, 16.648764451}} + {{61.722365932, 132.525658238}, {165.54365526, 16.648764451}} Class DKDRectangle GraphicID @@ -2309,12 +2273,12 @@ AttributedText String - _edgelist + _edges TextAttribute - 80 + 0 Bounds - {{57.2009356021, 165.133742084}, {78.3773221901, 21.0231661209}} + {{64.2153568446, 162.229577687}, {78.3773221901, 21.0231661209}} Class DKDTextArea GraphicID @@ -2338,10 +2302,10 @@ String _vertexlist TextAttribute - 80 + 0 Bounds - {{57.1450032585, 132.577324973}, {93.7524652752, 28.0906581509}} + {{60.8887920649, 132.606586075}, {93.7524652752, 28.0906581509}} Class DKDTextArea GraphicID @@ -2351,7 +2315,7 @@ Bounds - {{139.273834123, 161.851595515}, {87.782600853, 16.648764451}} + {{61.8591106675, 161.851595515}, {165.197324309, 16.648764451}} Class DKDRectangle GraphicID @@ -2404,58 +2368,377 @@ M210.844983401,170.766790232 C210.844983401,170.766790232 210.844983401,170.766790232 210.844983401,170.766790232 C213.752183867,199.117485484 250.788478524,197.804023056 258.597192548,193.417321791 C266.581638868,188.931899395 266.646650811,163.673519796 326.03417007,166.857994658 + AttributedText + + String + DGraph class + TextAttributes + + {0, 6} + 32 + {6, 6} + 48 + + Bounds - {{75.6929880143, 478.94959588}, {179.748202765, 138.799042521}} + {{49.3199747211, 578.73856616}, {121.597735034, 32.1481976616}} Class - DKDGroup + DKDTextArea GraphicID - 835D7ED1 - GraphicTransform - - coefficientM11 - 1 - coefficientM12 - 0 - coefficientM21 - 0 - coefficientM22 - 1 - coefficientTX - 0 - coefficientTY - 0 - - GroupGraphics - - - AttributedText - - String - _BaseGraph class - TextAttributes - - {0, 10} - 16 - {10, 6} - 32 - - - Bounds - {{87.5919838092, 585.600440739}, {121.597735034, 32.1481976616}} - Class - DKDTextArea - GraphicID - 235D7ED1 - GraphicStyle - 10 - + 235D7ED1 + GraphicStyle + 10 + + + Class + DKDContinuousBezier + DkBezArrow + 2 + DkBezDashPattern + 48 + GraphicID + 935D7ED1 + GraphicStyle + 104 + SVGPath + M194.416213759,502.436507279 C194.416213759,502.436507279 194.416213759,502.436507279 194.416213759,502.436507279 C193.945467973,542.072234295 223.649102871,590.863849445 241.087967896,615.513598462 C254.762980758,634.843161159 264.449156534,644.338331026 315.878380761,668.139690842 + + + Class + DKDContinuousBezier + DkBezArrow + 2 + DkBezDashPattern + 64 + GraphicID + A35D7ED1 + GraphicStyle + 104 + SVGPath + M217.705914285,501.952696648 C217.705914285,501.952696648 219.276598319,496.193136357 219.276598319,496.193136357 C233.717595049,420.303593302 339.165441042,390.652501983 401.42716719,393.520805445 C483.014804731,397.279424385 526.704774625,451.789522138 557.939489852,491.167542048 + + + Class + DKDContinuousBezier + DkBezArrow + 2 + DkBezDashPattern + 80 + GraphicID + B35D7ED1 + GraphicStyle + 120 + SVGPath + M213.392224077,530.399581513 C213.392224077,530.399581513 213.392224077,530.399581513 213.392224077,530.399581513 C216.299424543,558.750276765 251.872348983,560.74579888 259.681063007,556.359097615 C267.665509327,551.873675219 286.72669266,514.797261391 346.449161102,514.872754216 + + + Class + DKDLine + GraphicID + 25B8E6B3 + GraphicStyle + 72 + SVGPath + M394.574666431,326.324803281 L432.333774789,322.250557834 + + + AttributedText + + String + list of vertices for this graph + TextAttribute + 80 + + Bounds + {{76.520266275, 71.9794575056}, {93.9776214349, 34.7378052099}} + Class + DKDTextArea + GraphicID + 2D85F8B3 + GraphicStyle + 72 + + + AttributedText + + String + dict of edges for this graph + TextAttribute + 80 + + Bounds + {{114.211968691, 245.672357962}, {93.9776214349, 34.7378052099}} + Class + DKDTextArea + GraphicID + D979E9B3 + GraphicStyle + 72 + + + Class + DKDLine + GraphicID + 5A419AB3 + GraphicStyle + 72 + SVGPath + M188.768717993,131.757980782 L170.929513888,89.0176271503 + + + Class + DKDLine + GraphicID + C240EAB3 + GraphicStyle + 72 + SVGPath + M166.46080119,244.461515628 L123.093103641,179.341295632 + + + Bounds + {{304.060850839, 319.808252482}, {87.782600853, 16.648764451}} + Class + DKDRectangle + GraphicID + 8FDB7B84 + GraphicStyle + 8 + + + AttributedText + + String + _edgelist + TextAttribute + 0 + + Bounds + {{518.950335078, 172.600200005}, {78.3773221901, 21.0231661209}} + Class + DKDTextArea + GraphicID + 7CE4DC94 + GraphicStyle + 10 + + + Bounds + {{535.222361596, 518.03192715}, {84.1949048698, 12.8621999773}} + Class + DKDRectangle + GraphicID + 95BE10A4 + GraphicStyle + 8 + + + Bounds + {{536.114517527, 537.246400354}, {83.8510128687, 12.8687041238}} + Class + DKDRectangle + GraphicID + A5BE10A4 + GraphicStyle + 8 + + + AttributedText + + String + _edgelist + TextAttribute + 0 + + Bounds + {{541.382105309, 516.568794677}, {78.3773221901, 21.0231661209}} + Class + DKDTextArea + GraphicID + B5BE10A4 + GraphicStyle + 10 + + + AttributedText + + String + _inlist + TextAttribute + 0 + + Bounds + {{542.59117522, 536.027356007}, {78.3773221901, 21.0231661209}} + Class + DKDTextArea + GraphicID + C5BE10A4 + GraphicStyle + 10 + + + Class + DKDContinuousBezier + DkBezArrow + 10 + GraphicID + 560A41A4 + GraphicStyle + 40 + SVGPath + M599.671221671,547.428968227 C599.671221671,547.428968227 599.671221671,547.428968227 599.671221671,547.428968227 C599.344792904,560.523259679 583.819795776,611.427705458 553.685918912,611.212590365 C510.48835725,610.904218245 468.915156599,554.367405242 427.515395491,552.090851957 + + + Class + DKDLine + DkBezArrow + 42 + GraphicID + 8943FD83 + GraphicStyle + 24 + SVGPath + M408.923600302,663.772845311 L548.400446629,564.235270321 + + + AttributedText + + String + list of outgoing Edges for this vertex + TextAttribute + 80 + + Bounds + {{447.404131046, 668.191484633}, {97.8531135609, 46.3008174453}} + Class + DKDTextArea + GraphicID + A345C4A4 + GraphicStyle + 72 + + + AttributedText + + String + list of incoming Edges for this vertex + TextAttribute + 80 + + Bounds + {{619.228347598, 447.664185153}, {104.462669043, 47.4541925586}} + Class + DKDTextArea + GraphicID + A835F6A4 + GraphicStyle + 72 + + + Class + DKDLine + GraphicID + F49038A4 + GraphicStyle + 72 + SVGPath + M620.571058952,544.06366293 L657.241582465,495.43482987 + + + Class + DKDLine + GraphicID + EF9749A4 + GraphicStyle + 72 + SVGPath + M412.340144386,682.721611632 L446.579847371,686.462494979 + + + Bounds + {{327.928588288, 675.297526025}, {84.1949048698, 12.8621999773}} + Class + DKDRectangle + GraphicID + 7DD70DA4 + GraphicStyle + 8 + + + Bounds + {{328.820744219, 694.511999229}, {83.8510128687, 12.8687041238}} + Class + DKDRectangle + GraphicID + 8DD70DA4 + GraphicStyle + 8 + + + AttributedText + + String + _edgelist + TextAttribute + 0 + + Bounds + {{334.088332001, 673.834393552}, {78.3773221901, 21.0231661209}} + Class + DKDTextArea + GraphicID + 9DD70DA4 + GraphicStyle + 10 + + + AttributedText + + String + _inlist + TextAttribute + 0 + + Bounds + {{335.297401912, 693.292954882}, {78.3773221901, 21.0231661209}} + Class + DKDTextArea + GraphicID + ADD70DA4 + GraphicStyle + 10 + + + Bounds + {{55.9616509178, 474.041787698}, {179.748202765, 102.160261623}} + Class + DKDGroup + GraphicID + 0B8019B4 + GraphicTransform + + coefficientM11 + 1 + coefficientM12 + 0 + coefficientM21 + 0 + coefficientM22 + 1 + coefficientTX + 0 + coefficientTY + 0 + + GroupGraphics + Bounds - {{159.046404711, 494.467421534}, {87.782600853, 16.648764451}} + {{61.5540132076, 489.559613352}, {165.54365526, 16.648764451}} Class DKDRectangle GraphicID - 335D7ED1 + BA8019B4 GraphicStyle 8 @@ -2463,26 +2746,26 @@ AttributedText String - _edgelist + _edges TextAttribute - 80 + 0 Bounds - {{76.7639199742, 527.07550538}, {78.3773221901, 21.0231661209}} + {{64.0470041202, 519.263532801}, {78.3773221901, 21.0231661209}} Class DKDTextArea GraphicID - 435D7ED1 + CA8019B4 GraphicStyle 10 Bounds - {{75.6929880143, 478.94959588}, {179.748202765, 102.160261623}} + {{55.9616509178, 474.041787698}, {179.748202765, 102.160261623}} Class DKDRectangle GraphicID - 535D7ED1 + DA8019B4 GraphicStyle 88 @@ -2492,70 +2775,55 @@ String _vertexlist TextAttribute - 80 + 0 Bounds - {{76.7079876306, 494.519088269}, {93.7524652752, 28.0906581509}} + {{60.7204393405, 489.640541189}, {93.7524652752, 28.0906581509}} Class DKDTextArea GraphicID - 635D7ED1 + EA8019B4 GraphicStyle 10 Bounds - {{158.836818495, 523.793358811}, {87.782600853, 16.648764451}} + {{61.6907579431, 518.885550629}, {165.197324309, 16.648764451}} Class DKDRectangle GraphicID - 735D7ED1 + FA8019B4 GraphicStyle 8 + AttributedText + + String + v2 is always the end vertex + TextAttribute + 80 + + Bounds + {{270.136506289, 433.419929313}, {83.7544461108, 35.698772107}} Class - DKDContinuousBezier - DkBezArrow - 2 - DkBezDashPattern - 48 - GraphicID - 935D7ED1 - GraphicStyle - 104 - SVGPath - M194.416213759,502.436507279 C194.416213759,502.436507279 194.416213759,502.436507279 194.416213759,502.436507279 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-Querying structure -- counts, adjacent vertices, connectivity, distance -- for directed and -undirected graphs. -See :doc:`planning` for -finding paths between vertices, and :doc:`representations` for matrix/dot forms of the -whole graph. +Querying structure -- counts, adjacent vertices, incident edges, degree, +connectivity, distance -- for directed and undirected graphs. +See :doc:`planning` for finding paths between vertices, and +:doc:`representations` for the matrix and dot forms of the whole graph. + +A vertex is queried in two complementary ways: by the vertices it is +*adjacent* to, and by the *edges* incident on it. For the adjacent vertices +:meth:`~pgraph.PGraph.Vertex.adjacent` is the canonical name; for a directed +graph :meth:`~pgraph.PGraph.Vertex.successors` is the same list under its +directed name, and :meth:`~pgraph.PGraph.Vertex.predecessors` is the vertices +with an edge *to* the vertex. The edges are +:meth:`~pgraph.PGraph.Vertex.out_edges` and +:meth:`~pgraph.PGraph.Vertex.in_edges`, and +:meth:`~pgraph.PGraph.Vertex.incidences` pairs each adjacent vertex with the +edge that leads to it. :meth:`~pgraph.PGraph.Vertex.edgeto` is the edge to +one adjacent vertex, the cheapest if there are parallel edges, and +:meth:`~pgraph.PGraph.Vertex.edges_to` lists all of them. Graph ----- +The size and kind of the graph +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + .. autosummary:: :nosignatures: ~pgraph.PGraph.Graph.n ~pgraph.PGraph.Graph.ne ~pgraph.PGraph.Graph.nc + ~pgraph.PGraph.Graph.directed ~pgraph.PGraph.Graph.edges - ~pgraph.PGraph.Graph.average_degree + +Structure and connectivity +^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. autosummary:: + :nosignatures: + ~pgraph.PGraph.Graph.iscyclic - ~pgraph.PGraph.Graph.connectivity ~pgraph.PGraph.Graph.component ~pgraph.PGraph.Graph.samecomponent + ~pgraph.PGraph.Graph.connectivity + ~pgraph.PGraph.Graph.average_degree + +Geometry and consistency +^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. autosummary:: + :nosignatures: + ~pgraph.PGraph.Graph.closest + ~pgraph.PGraph.Graph.validate + +The matrices of a graph (:meth:`~pgraph.PGraph.Graph.adjacency`, +:meth:`~pgraph.PGraph.Graph.degree`, :meth:`~pgraph.PGraph.Graph.incidence`, +:meth:`~pgraph.PGraph.Graph.laplacian`, :meth:`~pgraph.PGraph.Graph.distance`) +are in :doc:`representations`. Vertex ------ +Identity and position +^^^^^^^^^^^^^^^^^^^^^^ + +.. autosummary:: + :nosignatures: + + ~pgraph.PGraph.Vertex.name + ~pgraph.PGraph.Vertex.label + ~pgraph.PGraph.Vertex.x + ~pgraph.PGraph.Vertex.y + ~pgraph.PGraph.Vertex.z + +Adjacent vertices +^^^^^^^^^^^^^^^^^^ + .. autosummary:: :nosignatures: - ~pgraph.PGraph.Vertex.edges ~pgraph.PGraph.Vertex.adjacent ~pgraph.PGraph.Vertex.isadjacent + ~pgraph.PGraph.Vertex.successors + ~pgraph.PGraph.Vertex.predecessors + +.. note:: ``neighbours()`` and ``neighbors()`` are the same method as + :meth:`~pgraph.PGraph.Vertex.adjacent`, and ``isneighbour()`` and + ``isneighbor()`` the same as :meth:`~pgraph.PGraph.Vertex.isadjacent`. + They are spelling variants, not deprecated. + +Incident edges +^^^^^^^^^^^^^^^ + +.. autosummary:: + :nosignatures: + + ~pgraph.PGraph.Vertex.edges + ~pgraph.PGraph.Vertex.out_edges + ~pgraph.PGraph.Vertex.in_edges ~pgraph.PGraph.Vertex.incidences + ~pgraph.PGraph.Vertex.edgeto + ~pgraph.PGraph.Vertex.edges_to + +Degree +^^^^^^^ + +.. autosummary:: + :nosignatures: + ~pgraph.PGraph.Vertex.degree - ~pgraph.PGraph.Vertex.heuristic_distance + ~pgraph.PGraph.Vertex.in_degree + ~pgraph.PGraph.Vertex.out_degree + +Distance +^^^^^^^^^ + +.. autosummary:: + :nosignatures: + ~pgraph.PGraph.Vertex.distance - ~pgraph.PGraph.Vertex.x - ~pgraph.PGraph.Vertex.y - ~pgraph.PGraph.Vertex.z + ~pgraph.PGraph.Vertex.heuristic_distance + ~pgraph.PGraph.Vertex.closest + +Edge +---- + +An :class:`~pgraph.PGraph.Edge` is described in full on :doc:`edges_vertices`. The +attributes and methods used to query one are + +.. autosummary:: + :nosignatures: + + ~pgraph.PGraph.Edge.v1 + ~pgraph.PGraph.Edge.v2 + ~pgraph.PGraph.Edge.endpoints + ~pgraph.PGraph.Edge.next + +and every edge also has ``cost`` and ``data`` attributes. Details ------- @@ -47,21 +146,34 @@ Details .. autoproperty:: pgraph.PGraph.Graph.n .. autoproperty:: pgraph.PGraph.Graph.ne .. autoproperty:: pgraph.PGraph.Graph.nc +.. autoproperty:: pgraph.PGraph.Graph.directed .. automethod:: pgraph.PGraph.Graph.edges -.. automethod:: pgraph.PGraph.Graph.average_degree .. automethod:: pgraph.PGraph.Graph.iscyclic -.. automethod:: pgraph.PGraph.Graph.connectivity .. automethod:: pgraph.PGraph.Graph.component .. automethod:: pgraph.PGraph.Graph.samecomponent +.. automethod:: pgraph.PGraph.Graph.connectivity +.. automethod:: pgraph.PGraph.Graph.average_degree .. automethod:: pgraph.PGraph.Graph.closest +.. automethod:: pgraph.PGraph.Graph.validate -.. automethod:: pgraph.PGraph.Vertex.edges +.. autoproperty:: pgraph.PGraph.Vertex.name +.. autoproperty:: pgraph.PGraph.Vertex.label +.. autoproperty:: pgraph.PGraph.Vertex.x +.. autoproperty:: pgraph.PGraph.Vertex.y +.. autoproperty:: pgraph.PGraph.Vertex.z .. automethod:: pgraph.PGraph.Vertex.adjacent .. automethod:: pgraph.PGraph.Vertex.isadjacent +.. automethod:: pgraph.PGraph.Vertex.successors +.. automethod:: pgraph.PGraph.Vertex.predecessors +.. automethod:: pgraph.PGraph.Vertex.edges +.. automethod:: pgraph.PGraph.Vertex.out_edges +.. automethod:: pgraph.PGraph.Vertex.in_edges .. automethod:: pgraph.PGraph.Vertex.incidences +.. automethod:: pgraph.PGraph.Vertex.edgeto +.. automethod:: pgraph.PGraph.Vertex.edges_to .. autoproperty:: pgraph.PGraph.Vertex.degree -.. automethod:: pgraph.PGraph.Vertex.heuristic_distance +.. autoproperty:: pgraph.PGraph.Vertex.in_degree +.. autoproperty:: pgraph.PGraph.Vertex.out_degree .. automethod:: pgraph.PGraph.Vertex.distance -.. autoproperty:: pgraph.PGraph.Vertex.x -.. autoproperty:: pgraph.PGraph.Vertex.y -.. autoproperty:: pgraph.PGraph.Vertex.z +.. automethod:: pgraph.PGraph.Vertex.heuristic_distance +.. automethod:: pgraph.PGraph.Vertex.closest diff --git a/docs/source/common.rst b/docs/source/common.rst index 5ad0a211..5e6beeea 100644 --- a/docs/source/common.rst +++ b/docs/source/common.rst @@ -4,26 +4,22 @@ Common methods The package supports both directed (prefix ``D``) and undirected graphs (prefix ``U``), and the classes for these share a common interface. -The graph classes represent a single graph, either directed or undirected, and they share :class:`Graph`: +The graph classes represent a single graph, either directed or undirected, and they share :class:`~pgraph.PGraph.Graph`: .. inheritance-diagram:: pgraph.PGraph.UGraph pgraph.PGraph.DGraph :parts: 1 :private-bases: :top-classes: pgraph.PGraph.Graph -The vertices of both kinds of graph are :class:`Vertex` objects: a vertex has -no direction of its own, the graph it belongs to decides how an edge is -recorded at its ends. +The vertices of both kinds of graph are :class:`~pgraph.PGraph.Vertex` objects. A vertex has +no direction of its own: the graph it belongs to decides how an edge is recorded +in the edge lists of its vertices. +Edges are represented by the :class:`~pgraph.PGraph.Edge` class, which is used by both directed and undirected graphs. The graph classes share almost their entire interface, defined once on their -common base class :class:`Graph`. This section documents that shared interface -by task rather than by class; see :doc:`construction` for the :class:`DGraph` -and :class:`UGraph` classes and :doc:`edges_vertices` for vertices and edges. - -Edges are represented by the :class:`Edge` class, which is used by both directed and undirected graphs. - -.. inheritance-diagram:: pgraph.PGraph.Edge - :parts: 1 +common base class :class:`~pgraph.PGraph.Graph`. This section documents that shared interface +by task rather than by class; see :doc:`construction` for the :class:`~pgraph.PGraph.DGraph` +and :class:`~pgraph.PGraph.UGraph` classes and :doc:`edges_vertices` for vertices and edges. diff --git a/docs/source/conf.py b/docs/source/conf.py index 0f1d1680..47934a98 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -45,6 +45,7 @@ ] autosummary_generate = True +add_module_names = False # show Graph.n, not pgraph.PGraph.Graph.n # copybutton configuration: strip >>> and ... prompts when copying copybutton_prompt_text = r">>> |\.\.\. " diff --git a/docs/source/construction.rst b/docs/source/construction.rst index 09170b03..05178545 100644 --- a/docs/source/construction.rst +++ b/docs/source/construction.rst @@ -1,8 +1,9 @@ Construction and basic usage ============================= -There are a number of ways to build a :class:`DGraph`/:class:`UGraph` (a plain constructor, or from -a dictionary/adjacency matrix). +There are a number of ways to build a :class:`~pgraph.PGraph.UGraph` (undirected) or :class:`~pgraph.PGraph.DGraph` (directed): a plain +constructor, or from a dictionary or an adjacency matrix. :class:`~pgraph.PGraph.Graph` is their common base class, +used in type hints, and ``Graph(directed=flag)`` chooses the kind from a value. See :doc:`policy` for the rules around constructing vertices/edges standalone, independent of a graph. @@ -10,6 +11,7 @@ standalone, independent of a graph. .. autosummary:: :nosignatures: + ~pgraph.PGraph.Graph ~pgraph.PGraph.DGraph ~pgraph.PGraph.UGraph ~pgraph.PGraph.Graph.Dict @@ -36,4 +38,9 @@ Inherited methods for all graph types :members: copy, vertex_copy, metric, heuristic, show, vertex_class, edge_class :special-members: __init__, __str__, __repr__, __getitem__, __iter__, __contains__ +Copying a vertex +---------------- + +.. automethod:: pgraph.PGraph.Vertex.copy + diff --git a/docs/source/edge.rst b/docs/source/edge.rst deleted file mode 100644 index 28ad4823..00000000 --- a/docs/source/edge.rst +++ /dev/null @@ -1,8 +0,0 @@ -Edge ----- - -.. autoclass:: pgraph.PGraph.Edge - :undoc-members: - :show-inheritance: - :inherited-members: - :special-members: __init__ \ No newline at end of file diff --git a/docs/source/edges_vertices.rst b/docs/source/edges_vertices.rst index d4161126..d6784e90 100644 --- a/docs/source/edges_vertices.rst +++ b/docs/source/edges_vertices.rst @@ -6,10 +6,15 @@ Underlying data structures .. image:: ../figs/datastructures.svg -The graph class maintains a list of vertices and a list of edges. Each vertex maintains +The graph class maintains a list of vertices and a dict of edges. For the undirected case, +each vertex maintains a list of edges that connect to it, and each edge maintains a reference to the two -vertices it connects. The graph class provides methods for adding and removing vertices -and edges, as well as for querying the graph's structure. +vertices it connects. In the case of a loop, the edge appears twice in the vertex's edge list. +For the directed case, each vertex maintains two edge lists: a list of outgoing edges and a list of incoming edges. + +The graph class provides methods for adding and removing vertices and edges (see :doc:`modification`) +and for querying its structure (see :doc:`analysis`). + Working with vertices and edges directly ----------------------------------------- @@ -65,14 +70,14 @@ and then add it to the graph >>> g.add_edge(e) >>> print(g) -The ``Edge`` constuctor line above is equivalent to +Creating the edge and then adding it to the graph, as above, is equivalent to .. code-block:: python >>> e = Edge() >>> e.connect(v1, v2) -Alternatively, we can create a vertex and *connect* it to an existing vertex, which will implitically create an edge between the two vertices and add it to the graph. +Alternatively, we can create a vertex and *connect* it to an existing vertex, which will implicitly create an edge between the two vertices and add it to the graph. .. runblock:: pycon :session: @@ -83,14 +88,26 @@ Alternatively, we can create a vertex and *connect* it to an existing vertex, wh >>> print(g) The ``connect`` method of the vertex class creates an edge between the two -vertices and adds it to the graph. The two vertices must have been added the same graph for the edge to be created. -The ``connect`` method is available on both the -directed and undirected vertex classes. +vertices and adds it to the graph. The two vertices must have been added to the same graph for the edge to be created. +The ``connect`` method is the same for directed and undirected graphs: the graph decides how the edge is +recorded at its vertices. + + +.. note:: Wherever a vertex or edge is required, a subclass of the appropriate base class can be used. For example, we can create a subclass of ``Vertex`` called ``MyVertex`` and a subclass of ``Edge`` called ``MyEdge`` and then create a new graph using these classes, by passing them as the ``vertex_class`` and ``edge_class`` arguments of the graph constructor. + + +The Vertex class +----------------- +.. autoclass:: pgraph.PGraph.Vertex + :show-inheritance: + :special-members: __init__ -.. note:: Where ever a vertex or edge is required, a subclass of the appropriate base class can be used. For example, we can create a subclass of ``Vertex`` called ``MyVertex`` and a subclass of ``Edge`` called ``MyEdge`` and then create a new graph using these classes. +The Edge class +----------------- -.. toctree:: - :maxdepth: 2 +.. autoclass:: pgraph.PGraph.Edge + :show-inheritance: + :members: + :special-members: __init__ - edge diff --git a/docs/source/export.rst b/docs/source/export.rst index fcf4930f..129fa303 100644 --- a/docs/source/export.rst +++ b/docs/source/export.rst @@ -2,8 +2,8 @@ Exporting a graph ================= Graphs can be exported to a number of different formats, including dot (used by -`GraphViz `_) mermaid (a JavaScript-based graph -visualization tool that can be used in MarkDown documents), GraphML (an +`GraphViz `_), Mermaid (a JavaScript-based graph +visualization tool that can be used in Markdown documents), GraphML (an XML-based format for representing graphs), ELK (a graph layout engine), as well as various image formats (e.g., PNG, SVG, PDF). @@ -21,3 +21,15 @@ Details .. automethod:: pgraph.PGraph.Graph.export .. automethod:: pgraph.PGraph.Graph.dotfile + +The exporters +------------- + +:meth:`~pgraph.PGraph.Graph.export` hands the work to the functions of +:mod:`pgraph.exporters`. The options of each format are the keyword arguments +of its function, which are passed through ``export(..., **options)``. The +module also provides the means to add a format of your own. + +.. automodule:: pgraph.exporters + :members: formats, format_from_filename, register_exporter, get_exporter, dot, mermaid, graphml, elk, render, ENGINES, RENDER_FORMATS + :member-order: bysource diff --git a/docs/source/intro.rst b/docs/source/intro.rst index 2b78d288..f8171784 100644 --- a/docs/source/intro.rst +++ b/docs/source/intro.rst @@ -1,7 +1,7 @@ Introduction ================= -This package provides classes for directed and undirected graphs: vertices +This pure-Python package provides classes for directed and undirected graphs: vertices connected by edges, with edge costs and path planning. Self-loops and parallel edges are permitted. @@ -19,26 +19,66 @@ depicted visually as shown below. Graphs can be used to represent transport, communications or social networks, and this branch of mathematics is graph theory. +.. plot:: + :include-source: no + :alt: two small graphs on the same five vertices, one undirected and one directed, each with parallel edges and a loop + + import matplotlib.pyplot as plt + from matplotlib.patches import Circle, FancyArrowPatch + + pos = {"A": (0.0, 1.0), "B": (2.0, 1.7), "C": (3.3, 0.3), "D": (1.2, -0.5), "E": (4.9, 1.3)} + # (from, to, curvature): two edges between the same vertices are drawn as + # two arcs, curving to either side + undirected = [("A", "B", 0), ("A", "D", 0), ("B", "D", 0.28), ("B", "D", -0.28), + ("B", "C", 0), ("D", "C", 0), ("C", "E", 0)] + directed = [("A", "B", 0.28), ("A", "B", -0.28), ("A", "D", 0), ("B", "D", 0), + ("B", "C", 0.28), ("C", "B", 0.28), ("D", "C", 0), ("C", "E", 0)] + + fig, axs = plt.subplots(1, 2, figsize=(9, 3.4)) + for ax, edges, is_directed, title in zip( + axs, (undirected, directed), (False, True), ("Undirected graph", "Directed graph") + ): + style = "-|>" if is_directed else "-" + for a, b, rad in edges: + ax.add_patch(FancyArrowPatch(pos[a], pos[b], arrowstyle=style, mutation_scale=18, + connectionstyle=f"arc3,rad={rad}", shrinkA=17, shrinkB=17, + color="0.15", lw=1.8)) + x, y = pos["E"] # a loop: an edge from a vertex to itself + ax.add_patch(FancyArrowPatch((x - 0.2, y + 0.17), (x + 0.2, y + 0.17), arrowstyle=style, + mutation_scale=18, connectionstyle="arc3,rad=-1.8", + color="0.15", lw=1.8)) + for name, (x, y) in pos.items(): + ax.add_patch(Circle((x, y), 0.2, fc="#1f77b4", ec="none", zorder=3)) + ax.text(x, y, name, ha="center", va="center", color="white", fontsize=11, zorder=4) + ax.set_xlim(-0.6, 5.7) + ax.set_ylim(-1.0, 2.6) + ax.set_aspect("equal") + ax.axis("off") + ax.set_title(title, fontsize=11) + fig.tight_layout() + Mathematically, a graph is denoted by :math:`G(V, E)` where :math:`V` are the vertices or nodes, and :math:`E` are the links that connect pairs -of vertices and are called edges or arcs. Edges can be directed (shown as arrows) or -undirected (shown as line segments) as in this case. Edges can have an associated +of vertices and are called edges or arcs. Edges can be directed (shown as arrows, as in the graph +on the right) or undirected (shown as line segments, as in the graph on the left). Edges can have an associated weight or cost associated with moving from one vertex to another. A sequence of edges from one vertex to another is a path, and a sequence that starts and ends at -the same vertex is a cycle. An edge from a vertex to itself is a loop. +the same vertex is a cycle. An edge from a vertex to itself is a loop, and edges that join the same pair +of vertices are parallel edges: B and D on the left are joined by two edges, as are A and B on the right. +On the right, B and C are also joined by edges in opposite directions. Creating a graph using the ``pgraph`` package ---------------------------------------------- To create a new graph using the ``pgraph`` package, we first import the package and create -a new instance of the ``UGraph`` class, which represents an undirected graph. By default, the vertices of the graph exist in 2-dimensional space. +a new instance of the ``UGraph`` class, which represents an undirected graph with vertices that exist in 2-dimensional space. .. runblock:: pycon :session: - >>> import pgraph + >>> from pgraph import UGraph >>> import numpy as np - >>> g = pgraph.UGraph() + >>> g = UGraph(dim=2) Next, we add some vertices to the graph, each with a random 2D coordinate which is specified as a 2-element array. The coordinates can be used to compute the cost of @@ -52,8 +92,8 @@ edges, and to plot the graph. ... g.add_vertex(np.random.rand(2)) -The method ``add_vertex`` returns a reference to the newly created vertex object, but -we can obtain the reference by indexing the graph object. For example vertex 1 is +The method ``add_vertex`` returns a reference to the newly created vertex object, and +a vertex can also be obtained by indexing the graph object. For example vertex 1 is .. runblock:: pycon :session: @@ -103,8 +143,8 @@ A summary of the graph can be displayed >>> print(g) -and we see that it has 5 vertices, six edges and one component, that is, all the vertices are connected into one net- -work. +and we see that it has 5 vertices, six edges and one component, that is, all the vertices are connected into one +network. The graph can be plotted by @@ -130,11 +170,11 @@ The graph can be plotted by >>> g.plot() The vertices are shown as blue circles, and the edges are -shown as lines joining vertices. Many options exist to change default plotting be- -havior. Note that only graphs embedded in 2- and 3-dimensional space can be +shown as lines joining vertices. Many options exist to change default plotting +behavior. Note that only graphs embedded in 2- and 3-dimensional space can be plotted. -The neighbours of vertex 1 are +The vertices adjacent to vertex 1 are .. runblock:: pycon :session: @@ -142,7 +182,7 @@ The neighbours of vertex 1 are >>> g[1].adjacent() -which is a list of neighboring vertex objects, those connected to it by an edge. Each +which is a list of adjacent vertex objects, those connected to it by an edge. Each edge is an object and the edges connecting to vertex 1 are .. runblock:: pycon @@ -172,7 +212,7 @@ The vertex closest to the coordinate :math:`(0.5, 0.5)` is >>> g.closest((0.5, 0.5)) -The minimum-distance path between any two vertices in the graph can be computed using well-known algorithms such as A (Hart et al. 1968) +The minimum-distance path between any two vertices in the graph can be computed using well-known algorithms such as ``A*`` (Hart et al. 1968) .. runblock:: pycon :session: @@ -202,7 +242,7 @@ Arbitrary data can be attached to any vertex or edge by assigning values to attr This exploits the flexible nature of Python, but care must be taken to avoid name clashes with existing attributes. A more robust and Pythonic approach is to create a subclass of the ``Vertex`` class and -declare them at graph creation time. For example, we can create a subclass of ``Vertex`` called ``MyVertex`` and a subclass of ``Edge`` called ``MyEdge`` and then create a new graph using these classes. +pass them to the graph constructor. For example, we can create a subclass of ``Vertex`` called ``MyVertex`` and a subclass of ``Edge`` called ``MyEdge`` and then create a new graph using these classes. .. runblock:: pycon :session: @@ -233,6 +273,30 @@ we can see that the type of the vertices and edges is now the user-defined class >>> type(g[0]) >>> type(g[0].edges()[0]) + +Creating directed and undirected graphs +---------------------------------------- + +The example above illustrates an undirected graph, but a directed graph can be created by using +the ``DGraph`` class instead of ``UGraph``. The methods are the same, but the edges are +directed and the path-finding algorithms take this into account. + +.. runblock:: pycon + + >>> from pgraph import DGraph + >>> g = DGraph(dim=2) + >>> type(g) + +Alternatively, we can make the decision at runtime by using the ``directed`` argument to the ``Graph`` constructor + +.. runblock:: pycon + + >>> from pgraph import Graph + >>> g = Graph(directed=True, dim=2) + >>> type(g) + >>> g = Graph(directed=False, dim=2) + >>> type(g) + History -------- diff --git a/docs/source/modification.rst b/docs/source/modification.rst index cc548c8b..1d89c78f 100644 --- a/docs/source/modification.rst +++ b/docs/source/modification.rst @@ -1,15 +1,15 @@ Adding and removing vertices and edges ======================================== -Building up and tearing down a graph's structure. ``connect()`` is the same -for both kinds of graph: the graph decides how the edge is recorded at its -vertices, so an undirected edge is found from either end and a directed one -leaves its start vertex and enters its end vertex. See :class:`Edge` for -constructing/removing an edge directly rather than via a vertex or graph. +Building up and tearing down a graph's structure can be achieved by methods on the graph, vertex, and edge classes. +These methods work for directed and undirected graphs. + Graph ----- +The graph class provides methods for adding and removing vertices and edges. + .. autosummary:: :nosignatures: @@ -21,13 +21,27 @@ Graph Vertex ------ +The vertex class provides methods for connecting a vertex to another vertex and for removing +a vertex, and its edges, from the graph. + .. autosummary:: :nosignatures: ~pgraph.PGraph.Vertex.connect - ~pgraph.PGraph.Vertex.edgeto ~pgraph.PGraph.Vertex.remove +Edge +------ + +The edge class provides methods for attaching an edge to a pair of vertices and for removing +an edge from the graph. They are described on the :doc:`edges_vertices` page. + +.. autosummary:: + :nosignatures: + + ~pgraph.PGraph.Edge.connect + ~pgraph.PGraph.Edge.remove + Details ------- @@ -38,5 +52,4 @@ Details .. automethod:: pgraph.PGraph.Graph.remove .. automethod:: pgraph.PGraph.Vertex.connect -.. automethod:: pgraph.PGraph.Vertex.edgeto .. automethod:: pgraph.PGraph.Vertex.remove diff --git a/docs/source/planning.rst b/docs/source/planning.rst index 49ea1b94..9ac58029 100644 --- a/docs/source/planning.rst +++ b/docs/source/planning.rst @@ -1,7 +1,9 @@ Path planning ============= -These methods find optimal paths from a start vertex to a goal vertex. +These methods find a path from a start vertex to a goal vertex. :meth:`~pgraph.PGraph.Graph.path_BFS` +finds the path with the fewest edges, while :meth:`~pgraph.PGraph.Graph.path_UCS` and +:meth:`~pgraph.PGraph.Graph.path_Astar` find the path with the lowest total cost. .. autosummary:: :nosignatures: diff --git a/docs/source/policy.rst b/docs/source/policy.rst index 6e3c35cc..0c3f681a 100644 --- a/docs/source/policy.rst +++ b/docs/source/policy.rst @@ -13,19 +13,20 @@ Standalone construction A vertex or edge built directly, e.g. ``Vertex(coord=[1, 2], name="A")`` or ``Edge(v1, v2, cost=5.0)``, is a fully valid object in its own right. The main supported use of this is lightweight, graph-independent work: building a -couple of vertices purely to demonstrate or test :class:`Edge` cost -computation, without needing a graph at all. +couple of vertices and an edge between them to demonstrate or test, without +needing a graph at all. Without a graph there is no metric, so the edge's +cost is the one given, or ``None``. An object in this state has ``._graph is None``. It cannot be connected to anything (see below) until it is added to a graph via -:meth:`UGraph.add_vertex` / :meth:`DGraph.add_vertex`. +:meth:`~pgraph.PGraph.Graph.add_vertex`. Adding a vertex to a graph --------------------------- A vertex is the same for undirected and directed graphs: it has no direction of its own, and the graph it belongs to decides how an edge is -recorded at its ends. :meth:`Graph.add_vertex` accepts coordinate data, from +recorded at its ends. :meth:`~pgraph.PGraph.Graph.add_vertex` accepts coordinate data, from which a vertex is built, or an existing ``Vertex`` that does not belong to a graph. A graph given a ``vertex_class`` only accepts instances of that class; passing any other vertex raises ``TypeError`` rather than being silently diff --git a/docs/source/visualization.rst b/docs/source/visualization.rst index 1053435f..06c9d0e5 100644 --- a/docs/source/visualization.rst +++ b/docs/source/visualization.rst @@ -1,9 +1,9 @@ Visualization ============== -Rendering the graph itself, with matplotlib or via GraphViz. See -:doc:`representations` for exporting the graph as data (a matrix or dot -file) rather than displaying it. +Rendering the graph itself, with matplotlib or via GraphViz. See +:doc:`export` for exporting the graph as data or an image file (dot, Mermaid, +GraphML, ELK, PNG, ...) and :doc:`representations` for its matrices. .. autosummary:: :nosignatures: diff --git a/src/pgraph/PGraph.py b/src/pgraph/PGraph.py index 0454d6b1..75dc7e4b 100644 --- a/src/pgraph/PGraph.py +++ b/src/pgraph/PGraph.py @@ -46,6 +46,17 @@ def _SE2(v: NDArray) -> float: class Graph: + """ + Base class for all graphs + + A graph is a set of :class:`Vertex` objects joined by :class:`Edge` + objects, which are directed or not according to the kind of graph: + :class:`UGraph` is undirected and :class:`DGraph` is directed. This + class holds everything they share, and ``Graph(directed=flag)`` makes one + or the other. The constructor arguments are described below. + + :seealso: :class:`UGraph` :class:`DGraph` :class:`Vertex` :class:`Edge` + """ #: whether the edges of this kind of graph are directed, set by #: :class:`UGraph` and :class:`DGraph` @@ -218,7 +229,7 @@ def Dict(cls, d: dict, reverse: bool = False, **kwargs: Any) -> Graph: :param kwargs: optional arguments passed to the graph constructor, for example ``vertex_class`` or ``edge_class`` :raises TypeError: ``vertex_class`` or ``edge_class`` is not a - suitable class, see :meth:`Graph.__init__` + suitable class, see :class:`~pgraph.PGraph.Graph` :return: graph :rtype: UGraph or DGraph @@ -290,7 +301,7 @@ def Adjacency( :raises ValueError: ``A`` is not square, or the length of ``names`` or the number of rows of ``coords`` does not match ``A`` :raises TypeError: ``vertex_class`` or ``edge_class`` is not a - suitable class, see :meth:`Graph.__init__` + suitable class, see :class:`~pgraph.PGraph.Graph` :return: graph :rtype: UGraph or DGraph @@ -446,7 +457,7 @@ def vertex_class(self) -> type[Vertex]: :rtype: subclass of ``Vertex`` This is read-only. It is set by the ``vertex_class`` argument of the - graph constructor, see :meth:`__init__`, and is :class:`Vertex` if not + graph constructor, see :class:`Graph`, and is :class:`Vertex` if not given. .. runblock:: pycon @@ -470,7 +481,7 @@ def edge_class(self) -> type[Edge]: :rtype: subclass of ``Edge`` This is read-only. It is set by the ``edge_class`` argument of the - graph constructor, see :meth:`__init__`, and is :class:`Edge` if not + graph constructor, see :class:`Graph`, and is :class:`Edge` if not given. .. runblock:: pycon @@ -865,7 +876,7 @@ def add_vertex( >>> g['v2'] If the graph was constructed with a required ``dim`` (see - :meth:`Graph.__init__`), every embedded vertex must have a + :class:`Graph`), every embedded vertex must have a coordinate of exactly that length -- adding one of the wrong length raises ``ValueError``: @@ -1079,7 +1090,7 @@ def add_edge( >>> e = g.add_edge(MyEdge(v1, v2, data="a road")) >>> print(type(e).__name__, e.data) - .. note:: Vertices have coordinates and the edge ``cost`` defaults to the distance between them, but if the vertices have no coordinates the edge cost must be set explicitly, otherwise it will be ``None`` and path planning will fail with a ``ValueError``. See :meth:`_require_cost` for details. + .. note:: Vertices have coordinates and the edge ``cost`` defaults to the distance between them, but if the vertices have no coordinates the edge cost must be set explicitly, otherwise it will be ``None`` and path planning will fail with a ``ValueError``. .. note:: To supply an edge that does not yet have vertices use ``g.add_edge(v1, v2, edge=e)`` or ``e.connect(v1, v2)``. @@ -1616,7 +1627,7 @@ def closest(self, coord: ArrayLike) -> tuple[Vertex | None, float]: def edges(self) -> list[Edge]: """ - Return a set of all edges in graph (base class method) + All edges in the graph, in the order they were added :return: All edges in the graph :rtype: list of Edge references @@ -2137,7 +2148,7 @@ def dotfile( - The graph is directed if it is a :class:`DGraph` .. note:: The ``graphviz`` formatters ``dot`` and ``neato`` can be used to render the - graph in various formats including PDF, PNG, JPG, GIF, SVG, etc. The formmatters are + graph in various formats including PDF, PNG, JPG, GIF, SVG, etc. The formatters are similar, but ``dot`` is better suited for directed graphs while ``neato`` is better suited for undirected graphs. @@ -2304,7 +2315,7 @@ def average_degree(self) -> float: def laplacian(self) -> NDArray: """ - Convert the graph to a Laplacian matrix + Convert graph to a Laplacian matrix :return: Laplacian matrix :rtype: NumPy ndarray @@ -2652,7 +2663,7 @@ def component(self, c: int) -> list[Vertex]: :seealso: :attr:`nc` :meth:`samecomponent` """ - self._graphcolor() # ensure labels are uptodate + self._graphcolor() # ensure labels are up to date return [v for v in self if v.label == c] def samecomponent(self, v1: Vertex, v2: Vertex) -> bool: @@ -2684,7 +2695,7 @@ def samecomponent(self, v1: Vertex, v2: Vertex) -> bool: :seealso: :meth:`component` :attr:`nc` """ - self._graphcolor() # ensure labels are uptodate + self._graphcolor() # ensure labels are up to date return v1.label == v2.label @@ -3289,13 +3300,21 @@ class Edge: """ Edge class - Is used to represent directed directed and undirected edges. + Is used to represent directed and undirected edges. + + Each edge has a cost, arbitrary data, and two vertices :attr:`v1` and + :attr:`v2`, which are read-only: the start and end vertex for a directed + edge. - Each edge has: - - ``cost`` cost of traversing this edge, required for planning methods - - ``data`` reference to arbitrary data associated with the edge - - ``v1`` first vertex, start vertex for a directed edge (read-only) - - ``v2`` second vertex, end vertex for a directed edge (read-only) + .. attribute:: cost + :type: float | None + + cost of traversing this edge, required for planning methods + + .. attribute:: data + :type: Any + + reference to arbitrary data associated with the edge .. note:: @@ -3326,9 +3345,9 @@ def __init__( Create an edge object :param v1: start of the edge, defaults to None - :type v1: Vertex subclass, optional + :type v1: :class:`Vertex`, optional :param v2: end of the edge, defaults to None - :type v2: Vertex subclass, optional + :type v2: :class:`Vertex`, optional :param cost: edge cost, defaults to None :type cost: any, optional :param data: edge data, defaults to None @@ -3563,7 +3582,7 @@ def next(self, vertex: Vertex) -> Vertex: assert self.v1 is not None return self.v1 else: - raise ValueError("shouldnt happen") + raise ValueError("should not happen") def vertices(self) -> list[Vertex]: """ @@ -3772,7 +3791,7 @@ def copy(self, cls: type[Graph] | None = None) -> Vertex: >>> v2 = v.copy(cls=DGraph) >>> print(v2) - :seealso: :meth:`UGraph.vertex_copy` :meth:`DGraph.vertex_copy` + :seealso: :meth:`Graph.vertex_copy` """ if cls is not None: return cls.vertex_copy(self) @@ -4100,7 +4119,7 @@ def edges_to(self, dest: Vertex) -> list[Edge]: def edges(self) -> list[Edge]: """ - Return a list of the edges for vertex + The edges at the vertex, in the order they were connected :return: the edges at this vertex :rtype: list of ``Edge`` @@ -4180,7 +4199,7 @@ def distance(self, coord: ArrayLike | Vertex) -> float: >>> v2 = g.add_vertex(coord=[3,4], name='v2') >>> print(v1.distance(v2)) - :seealso: :meth:`metric` + :seealso: :attr:`Graph.metric` """ if self._graph is None: raise ValueError("vertex is not connected to a graph") diff --git a/src/pgraph/exporters.py b/src/pgraph/exporters.py index eafa5375..54cf7820 100644 --- a/src/pgraph/exporters.py +++ b/src/pgraph/exporters.py @@ -2,7 +2,7 @@ Export a graph as text (GraphViz DOT, Mermaid, GraphML, ELK JSON) or as a rendered image (via the GraphViz command line tools). -This module is reached through :meth:`pgraph.PGraph.Graph.export`, which +This module is reached through :meth:`~pgraph.PGraph.Graph.export`, which dispatches on the format name or the file extension. Each text exporter is a plain function ``f(graph, **options) -> str``, registered with :func:`register_exporter`, so a user can add a format without touching the @@ -160,7 +160,7 @@ def _ordered_edges(graph: Graph) -> list[tuple[Edge, Vertex, Vertex]]: def _component_colors(graph: Graph) -> dict[Vertex, str]: """ - Map each vertex to a ``#rrggbb`` colour for its component, as plot() does + Map each vertex to a ``#rrggbb`` color for its component, as plot() does """ import matplotlib.pyplot as plt import numpy as np @@ -270,7 +270,8 @@ def mermaid( :param direction: ``"TB"``, ``"BT"``, ``"LR"`` or ``"RL"`` :param colorcomponents: fill vertices by connected component :param costs: label edges with their cost - :param fence: wrap in a Markdown ```` ```mermaid ```` code fence + :param fence: wrap in a Markdown code fence, three backticks followed by + ``mermaid`` Mermaid flowcharts are laid out automatically and cannot pin node positions, so vertex coordinates are not represented. Vertices are given