spanning_tree.h

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#ifndef SPANNING_TREE_H
#define SPANNING_TREE_H

#include <queue>
#include <unordered_set>
#include <valarray>
#include <ros/ros.h>
#include <tf2/utils.h>
#include <geometry_msgs/PoseArray.h>
#include <nav_msgs/OccupancyGrid.h>
#include "lib/edge.h"

using namespace std;
using namespace ros;

class spanning_tree
{
public:
    spanning_tree ();

    vector<edge> get_mst_edges ();

    geometry_msgs::PoseArray get_tree ();

    void initialize_graph (nav_msgs::OccupancyGrid gridmap, bool connect4 = true);

    void construct ();

private:
    void add_edge (int from, int to, int cost);

     bool different_sets (int a, int b);

    vector<unordered_set<int>> nodes;

    priority_queue<edge, vector<edge>, compare_edge> edges;

    vector<edge> mst_edges;

    nav_msgs::OccupancyGrid map;
};

#endif // SPANNING_TREE_H