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module Grasp.Types (
GraspProgram(..),
namedNodes,
nodesWithName,
normalise,
iso
) where
import Data.Graph.Inductive.Graph( Node, LNode, LEdge, (&) )
import qualified Data.Graph.Inductive.Graph as Graph
import Data.Graph.Inductive.Tree
import Data.List
import Data.Maybe
import qualified Data.Map as Map
type GraspProgram = Gr String String
instance (Ord a, Ord b) => Eq (Gr a b) where
a == b = ((sort . Graph.labNodes $ a) == (sort . Graph.labNodes $ b)) &&
((sort . Graph.labEdges $ a) == (sort . Graph.labEdges $ b))
namedNodes :: GraspProgram -> [LNode String]
namedNodes g =
let nodes = Graph.labNodes g
edges = Graph.labEdges g
nameEdges = filter (\(_,_,z) -> z == "name") edges
nameNodes = map (\(x,_,_) -> x) nameEdges
in filter (\(x,_) -> x `elem` nameNodes) nodes
nodesWithName :: GraspProgram -> String -> [LNode String]
nodesWithName g s =
let nodes = Graph.labNodes g
edges = Graph.labEdges g
nodeLabelMap = Map.fromList nodes
nameEdges = filter (\(_,_,z) -> z == "name") edges
specific = filter (\(_,y,_) -> fromJust (Map.lookup y nodeLabelMap) == s) nameEdges
nameNodes = map (\(x,_,_) -> x) specific
in filter (\(x,_) -> x `elem` nameNodes) nodes
-- to-do
normalise :: GraspProgram -> GraspProgram
normalise g = Graph.mkGraph [] []
iso :: GraspProgram -> GraspProgram -> Bool
iso a b = (normalise a) == (normalise b)
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