Edge Cost Query #94

coliem · 2025-01-27T23:02:21Z

Implemented C++ methods CountEdges and CountEdgesFromEdgeSets to count the number of edges of given cost type within the graph.
Implemented C++ methods GetEdgeCosts to get all edge costs of given cost type within a graph. A new method GetCostMap that exposes the private attribute for the graph's cost map to public is utilized for this task. If only a subset of edge costs are needed, then the method GetEdgeCostFromNodeIDs is used instead. The user passes in an array of edges using the ids of the attached nodes (parent1, child1) and gets all costs of desired edges.
Implemented C++ method AlternateCostsAlongPath which takes a path and computes a given cost type of each edge in the path. This uses helper function MapPathToVectorOfNodes to map a vector of format [node1,node2,...,nodek] to [node1,node2,node2,...,nodek] to utilize the GetEdgeCosts methods.
C_Interface functions GetEdgeCosts, which gets all costs of a given type, and GetEdgeCostsFromNodeIDs, which gets the costs of a subset of edges represented by node ids.
C_Interface function CountNumberOfEdges which counts the number of edges of a given cost type within the graph.
C_Interface function AlternateCostsAlongPathWithIDs and AlternateCostsAlongPathStruct which sends the correspondingg C++ methods to Python.
Python/C GetEdgeCosts and NumEdges call the new C_Interface functions to query cost type and count number of edges.
Python/C AlternateCostsAlongPath calls the corresponding C_Interface function to compute alternate costs along a path. It is possible to compute alternate costs of a path in the form of a list of ids, but support for path structures still need to be implemented.
Python SizeOfEdgeVector to compute the size of an edge vector in C++.
Python DestroyEdges to destroy a list of edges in C++.
DocTests added for Python functions
New example PathQuerying.py which guides the user on how to get a shortest path and how to get the alternate costs for nodes along that path. Provides plots to help the user visualize the process.
Debugged AddEdgeToGraph Python implementation which took a node yet couldn't handle it properly. A new C_Interface function AddEdgeFromNodeStructs was added for this purpose and AddEdgeToGraph now works as intended.
EdgeStruct Python implementation which resembles the Edge structure (not IntEdge) in C++. This comes along with the EdgeList class and the CreateListOfEdgeStructs method.
Implemented GetEdgesForNode in Python and C++, which takes in a node and a graph and finds all edges corresponding to that node. The Python implementation returns an EdgeList containing all the edges.
Added UnitTests corresponding to each of these functions.

Attached is a screenshot of all the VS test cases (including three new test cases for the C++ and C_Interface functions, with the exception of HFUnitTests/CInterfaceTests/C_Pathfinder/CreateManyPathsPerformanceTest due to runtime issues) and the test_graph.py test cases passing.

cadop · 2025-01-28T20:02:21Z

src/Cinterface/spatialstructures_C.cpp

+			out_scores[i] = v_costs[i];
+		}
+		*out_score_size = v_costs.size();
+		//if (!std::isfinite(*out_float)) *out_float = -1.0f;


Removed. It was a reminder that invalid edges come out as NaN which isn't finite.

cadop · 2025-01-28T22:20:56Z

src/Cinterface/spatialstructures_C.h

+	\brief		Get the alternate costs of traversing a given path
+
+	\param	g				The graph to traverse
+	\param	path			A path to get costs from


is this common in other docs? it says path but the parameter is ids

I mixed up the two docstrings between AlternateCostsAlongPathWithIDs and AlternateCostsAlongPathStruct. Should be resolved and other docs are fine

cadop · 2025-01-28T22:29:57Z

src/Cpp/spatialstructures/src/graph.cpp

+	vector<float> Graph::GetEdgeCostsFromNodeIDs(vector<int>& ids, const string& cost_type) const {
+		// Assume that ids is given in [parent1, child1, parent2, child2,...]
+		// Return an empty array if this attribute doesn't exist
+		// Need to raise error if odd number of ids


Do the check of odd ids.

there should be a unittest for testing what happens when invalid edge is given. maybe handled in GetCost

For inputs with an odd number of ids, the C++ function GetEdgeCostsFromNodeIDs now throws std::invalid_argument and the C_Interface throws GENERIC_ERROR if this is the case (I didn't want to add any new error codes). Moreover, NaN represents an invalid edge, which still gets added to the output array. If you want this to throw an error, then I can modify the code.

The corresponding UnitTest has been updated to check these two edge cases.

src/Cpp/tests/src/SpatialStructures.cpp

src/Python/dhart/pathfinding/shortest_path.py

src/Python/dhart/spatialstructures/graph.py

src/Python/dhart/spatialstructures/spatial_structures_native_functions.py

cadop · 2025-01-28T23:10:35Z

src/Python/dhart/spatialstructures/spatial_structures_native_functions.py

+
+def DestroyEdges(edge_list_ptr: c_void_p):
+    """ Call the destructor for a list of edges """
+    HFPython.DestroyEdges(edge_list_ptr)


Did you make a list of edges?

No, but the C_Interface function was already implemented so I just used that.

…es UnitTest

cadop · 2025-01-30T20:30:58Z

src/Python/dhart/spatialstructures/spatial_structures_native_functions.py

-    return out_vals
+
+    # Extract data from out_scores
+    return list(out_scores[:out_scores_size.value])


why is this cast to a list?

It was the same concept as the for loop. I didn't really know what you were talking about at the time and I will replace it with the raw data when I fix all of the for loops.

cadop · 2025-01-30T20:31:26Z

src/Python/dhart/spatialstructures/spatial_structures_native_functions.py

+    elif error_code == HF_STATUS.OUT_OF_RANGE:
+        # Tried to add an edge to an alternate cost type
+        # that didn't exist
+        raise InvalidCostOperation(


Did you test if any of these error codes are actually hit?

cadop · 2025-01-30T20:32:50Z

src/Python/dhart/spatialstructures/graph.py

@@ -483,7 +502,7 @@ def GetEdgeCosts(self, cost_type: str, ids: List[int] | None = None) -> List[flo
        >>> g.AddEdgeToGraph(0,1,50)
        >>> g.AddEdgeToGraph(0,2,50)
        >>> g.AddEdgeToGraph(1,2,50)
-        >>> csr = g.CompressToCSR()
+        >>> _ = g.CompressToCSR() #doctest: +ELLIPSIS


I have wondered about this. The does the C function checks if the graph was compressed already? Historically we have said you always need to compress, and all of these examples do it, but what if not?

If you're talking about CompressToCSR(), the C++ function checks if it was compressed before doing anything. The graph has a variable needs_compression that is maintained.

dhart/src/Cpp/spatialstructures/src/graph.cpp

Lines 1106 to 1126 in 4482e69

void Graph::Compress() {

// Only do this if the graph needs compression.

if (needs_compression) {

// If this has cost arrays then we never should have come here

assert(!this->has_cost_arrays);

// Note that the matrix must have atleast one extra row/column

int array_size = this->size() + 1;

// Resize the edge matrix

ResizeIfNeeded();

// Set the edge matrix from triplets.

edge_matrix.setFromTriplets(triplets.begin(), triplets.end());

// Mark this graph as not requiring compression

needs_compression = false;

}

}

coliem and others added 25 commits January 14, 2025 09:30

Init

831288f

Implemented Edge Structure.

ebdf06e

Exposing Edge Information.

f6e7d5a

Merge branch 'dev' of https://github.com/coliem/dhart into dev

2efe457

Merge branch 'dev' of https://github.com/coliem/dhart into dev

2e64143

Implemented acquiring all edge costs.

dce9180

C_INTERFACE GetEdgeCosts

93f0f7a

UnitTest

220471c

Debugged GetEdgeCostsFromNBodeIDs & Completed Unit Test

b840185

API Call for NumEdges

ec65a37

Added UnitTest for Counting Edges

8b2f2a7

Debugging Python API

3949ad3

Edge C_INTERFACE Bugfixes.

229e2de

Python UnitTests + Debugged C_INTERFACE GetEdgeCosts

9354d3e

Updated documentation for querying edge cost types.

928af52

Modified edge counting

96c79e4

Removed example

f076f93

Revert CMakeSettings.json

38e5b95

Removed whitespace from CMakeLists.txt

cdda23a

Reverted CMakeSettings.json to upstream/dev

58c052a

Removed Debug-C Build

6c3ebb3

Formatted CMakeSettings

69aaa75

Deleted CMakeSettings

0f4e87c

Readded CMake

53e5ee8

Removed Debug-C

3777126

coliem marked this pull request as draft January 27, 2025 23:59

coliem and others added 4 commits January 27, 2025 22:58

Alternate costs along path Cpp & C_Interface

ae3d320

Alternate costs along path Python

d4bd5fc

Reverted CMakeSettings

8066941

Path Structure Support for Python AlternateCostsAlongPath

6f90324

coliem added 5 commits January 28, 2025 14:41

Example for Path Query + Doctests

1f74d75

Modified PathPlanningBasic Example

d5a1783

Modified PathPlanningBasic Example

aa4b4bf

Updated PathQuerying Example

3e12af7

Removed whitespace in PathQuerying.py

7428c6a

coliem marked this pull request as ready for review January 28, 2025 22:05

cadop requested changes Jan 28, 2025

View reviewed changes

coliem and others added 6 commits January 29, 2025 10:47

GetEdgeCostsFromNodeIDs handles invalid arguments & Modified CountEdg…

71d7ffe

…es UnitTest

Switched parameter order for Python AlternateCostsAlongPath

376e64a

Modified DocTests for PathQuery example

baa52dd

Removed for loop from C_GetEdgeCosts

2628527

Progress towards edge structure & Fixed AddEdgeToGraph node parameters

3b0a72a

Implemented GetEdgesForNode & Added UnitTests

c6623f8

cadop reviewed Jan 30, 2025

View reviewed changes

coliem added 2 commits January 30, 2025 16:00

Removed list cast in Python GetEdgeCosts

e9567f6

Tested error throws for AddEdgesFromNodeStruct

e5c5dfa

cadop approved these changes Jan 30, 2025

View reviewed changes

cadop merged commit c5d3d52 into cadop:dev Jan 30, 2025

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Edge Cost Query #94

Edge Cost Query #94

coliem commented Jan 27, 2025 •

edited

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coliem Jan 30, 2025

	void Graph::Compress() {

	// Only do this if the graph needs compression.
	if (needs_compression) {

	// If this has cost arrays then we never should have come here
	assert(!this->has_cost_arrays);

	// Note that the matrix must have atleast one extra row/column
	int array_size = this->size() + 1;

	// Resize the edge matrix
	ResizeIfNeeded();

	// Set the edge matrix from triplets.
	edge_matrix.setFromTriplets(triplets.begin(), triplets.end());

	// Mark this graph as not requiring compression
	needs_compression = false;
	}
	}

Edge Cost Query #94

Edge Cost Query #94

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coliem commented Jan 27, 2025 • edited Loading

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coliem commented Jan 27, 2025 •

edited

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