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1 | <HTML> |
2 | <!-- | |
3 | Copyright (c) Jeremy Siek 2000 | |
4 | ||
5 | Distributed under the Boost Software License, Version 1.0. | |
6 | (See accompanying file LICENSE_1_0.txt or copy at | |
7 | http://www.boost.org/LICENSE_1_0.txt) | |
8 | --> | |
9 | <Head> | |
10 | <Title>Bellman Ford Shortest Paths</Title> | |
11 | <BODY BGCOLOR="#ffffff" LINK="#0000ee" TEXT="#000000" VLINK="#551a8b" | |
12 | ALINK="#ff0000"> | |
13 | <IMG SRC="../../../boost.png" | |
14 | ALT="C++ Boost" width="277" height="86"> | |
15 | ||
16 | <BR Clear> | |
17 | ||
18 | ||
19 | <H1><A NAME="sec:bellman-ford"></A><img src="figs/python.gif" alt="(Python)"/> | |
20 | <TT>bellman_ford_shortest_paths</TT> | |
21 | </H1> | |
22 | ||
23 | <P> | |
24 | <PRE> | |
25 | <i>// named paramter version</i> | |
26 | template <class <a href="./EdgeListGraph.html">EdgeListGraph</a>, class Size, class P, class T, class R> | |
27 | bool bellman_ford_shortest_paths(const EdgeListGraph& g, Size N, | |
28 | const bgl_named_params<P, T, R>& params = <i>all defaults</i>); | |
29 | ||
30 | template <class <a href="./VertexAndEdgeListGraph.html">VertexAndEdgeListGraph</a>, class P, class T, class R> | |
31 | bool bellman_ford_shortest_paths(const VertexAndEdgeListGraph& g, | |
32 | const bgl_named_params<P, T, R>& params = <i>all defaults</i>); | |
33 | ||
34 | <i>// non-named parameter version</i> | |
35 | template <class <a href="./EdgeListGraph.html">EdgeListGraph</a>, class Size, class WeightMap, | |
36 | class PredecessorMap, class DistanceMap, | |
37 | class <a href="http://www.sgi.com/tech/stl/BinaryFunction.html">BinaryFunction</a>, class <a href="http://www.sgi.com/tech/stl/BinaryPredicate.html">BinaryPredicate</a>, | |
38 | class <a href="./BellmanFordVisitor.html">BellmanFordVisitor</a>> | |
39 | bool bellman_ford_shortest_paths(EdgeListGraph& g, Size N, | |
40 | WeightMap weight, PredecessorMap pred, DistanceMap distance, | |
41 | BinaryFunction combine, BinaryPredicate compare, BellmanFordVisitor v) | |
42 | </PRE> | |
43 | ||
44 | <P> | |
45 | The Bellman-Ford algorithm [<A | |
46 | HREF="bibliography.html#bellman58">4</A>,<A | |
47 | HREF="bibliography.html#ford62:_flows">11</A>,<A | |
48 | HREF="bibliography.html#lawler76:_comb_opt">20</A>,<A | |
49 | HREF="bibliography.html#clr90">8</A>] solves the single-source | |
50 | shortest paths problem for a graph with both positive and negative | |
51 | edge weights. For the definition of the shortest paths problem see | |
52 | Section <A | |
53 | HREF="./graph_theory_review.html#sec:shortest-paths-algorithms">Shortest-Paths | |
54 | Algorithms</A>. | |
55 | If you only need to solve the shortest paths problem for positive edge | |
56 | weights, Dijkstra's algorithm provides a more efficient | |
57 | alternative. If all the edge weights are all equal to one then breadth-first | |
58 | search provides an even more efficient alternative. | |
59 | </p> | |
60 | ||
61 | <p> | |
62 | Before calling the <tt>bellman_ford_shortest_paths()</tt> function, | |
63 | the user must assign the source vertex a distance of zero and all | |
64 | other vertices a distance of infinity <i>unless</i> you are providing | |
65 | a starting vertex. The Bellman-Ford algorithm | |
66 | proceeds by looping through all of the edges in the graph, applying | |
67 | the relaxation operation to each edge. In the following pseudo-code, | |
68 | <i>v</i> is a vertex adjacent to <i>u</i>, <i>w</i> maps edges to | |
69 | their weight, and <i>d</i> is a distance map that records the length | |
70 | of the shortest path to each vertex seen so far. <i>p</i> is a | |
71 | predecessor map which records the parent of each vertex, which will | |
72 | ultimately be the parent in the shortest paths tree | |
73 | </p> | |
74 | ||
75 | <table> | |
76 | <tr> | |
77 | <td valign="top"> | |
78 | <pre> | |
79 | RELAX(<i>u</i>, <i>v</i>, <i>w</i>, <i>d</i>, <i>p</i>) | |
80 | <b>if</b> (<i>w(u,v) + d[u] < d[v]</i>) | |
81 | <i>d[v] := w(u,v) + d[u]</i> | |
82 | <i>p[v] := u</i> | |
83 | <b>else</b> | |
84 | ... | |
85 | </pre> | |
86 | </td> | |
87 | <td valign="top"> | |
88 | <pre> | |
89 | ||
90 | ||
91 | relax edge <i>(u,v)</i> | |
92 | ||
93 | ||
94 | edge <i>(u,v)</i> is not relaxed | |
95 | </pre> | |
96 | </td> | |
97 | </tr> | |
98 | </table> | |
99 | ||
100 | <p> | |
101 | The algorithm repeats this loop <i>|V|</i> times after which it is | |
102 | guaranteed that the distances to each vertex have been reduced to the | |
103 | minimum possible unless there is a negative cycle in the graph. If | |
104 | there is a negative cycle, then there will be edges in the graph that | |
105 | were not properly minimized. That is, there will be edges <i>(u,v)</i> such | |
106 | that <i>w(u,v) + d[u] < d[v]</i>. The algorithm loops over the edges in | |
107 | the graph one final time to check if all the edges were minimized, | |
108 | returning <tt>true</tt> if they were and returning <tt>false</tt> | |
109 | otherwise. | |
110 | </p> | |
111 | ||
112 | <table> | |
113 | <tr> | |
114 | <td valign="top"> | |
115 | <pre> | |
116 | BELLMAN-FORD(<i>G</i>) | |
117 | <i>// Optional initialization</i> | |
118 | <b>for</b> each vertex <i>u in V</i> | |
119 | <i>d[u] := infinity</i> | |
120 | <i>p[u] := u</i> | |
121 | <b>end for</b> | |
122 | <b>for</b> <i>i := 1</i> <b>to</b> <i>|V|-1</i> | |
123 | <b>for</b> each edge <i>(u,v) in E</i> | |
124 | RELAX(<i>u</i>, <i>v</i>, <i>w</i>, <i>d</i>, <i>p</i>) | |
125 | <b>end for</b> | |
126 | <b>end for</b> | |
127 | <b>for</b> each edge <i>(u,v) in E</i> | |
128 | <b>if</b> (<i>w(u,v) + d[u] < d[v]</i>) | |
129 | <b>return</b> (false, , ) | |
130 | <b>else</b> | |
131 | ... | |
132 | <b>end for</b> | |
133 | <b>return</b> (true, <i>p</i>, <i>d</i>) | |
134 | </pre> | |
135 | </td> | |
136 | <td valign="top"> | |
137 | <pre> | |
138 | ||
139 | ||
140 | ||
141 | ||
142 | ||
143 | ||
144 | ||
145 | examine edge <i>(u,v)</i> | |
146 | ||
147 | ||
148 | ||
149 | ||
150 | ||
151 | edge <i>(u,v)</i> was not minimized | |
152 | ||
153 | edge <i>(u,v)</i> was minimized | |
154 | </pre> | |
155 | </td> | |
156 | </tr> | |
157 | </table> | |
158 | ||
159 | There are two main options for obtaining output from the | |
160 | <tt>bellman_ford_shortest_paths()</tt> function. If the user provides | |
161 | a distance property map through the <tt>distance_map()</tt> parameter | |
162 | then the shortest distance from the source vertex to every other | |
163 | vertex in the graph will be recorded in the distance map (provided the | |
164 | function returns <tt>true</tt>). The second option is recording the | |
165 | shortest paths tree in the <tt>predecessor_map()</tt>. For each vertex | |
166 | <i>u in V</i>, <i>p[u]</i> will be the predecessor of <i>u</i> in the | |
167 | shortest paths tree (unless <i>p[u] = u</i>, in which case <i>u</i> is | |
168 | either the source vertex or a vertex unreachable from the source). In | |
169 | addition to these two options, the user can provide her own | |
170 | custom-made visitor that can take actions at any of the | |
171 | algorithm's event points. | |
172 | ||
173 | <P> | |
174 | ||
175 | <h3>Parameters</h3> | |
176 | ||
177 | ||
178 | IN: <tt>EdgeListGraph& g</tt> | |
179 | <blockquote> | |
180 | A directed or undirected graph whose type must be a model of | |
181 | <a href="./EdgeListGraph.html">Edge List Graph</a>. If a root vertex is | |
182 | provided, then the graph must also model | |
183 | <a href="./VertexListGraph.html">Vertex List Graph</a>.<br> | |
184 | ||
185 | <b>Python</b>: The parameter is named <tt>graph</tt>. | |
186 | </blockquote> | |
187 | ||
188 | IN: <tt>Size N</tt> | |
189 | <blockquote> | |
190 | The number of vertices in the graph. The type <tt>Size</tt> must | |
191 | be an integer type.<br> | |
192 | <b>Default:</b> <tt>num_vertices(g)</tt>.<br> | |
193 | ||
194 | <b>Python</b>: Unsupported parameter. | |
195 | </blockquote> | |
196 | ||
197 | ||
198 | <h3>Named Parameters</h3> | |
199 | ||
200 | IN: <tt>weight_map(WeightMap w)</tt> | |
201 | <blockquote> | |
202 | The weight (also know as ``length'' or ``cost'') of each edge in the | |
203 | graph. The <tt>WeightMap</tt> type must be a model of <a | |
204 | href="../../property_map/doc/ReadablePropertyMap.html">Readable Property | |
205 | Map</a>. The key type for this property map must be the edge | |
206 | descriptor of the graph. The value type for the weight map must be | |
207 | <i>Addable</i> with the distance map's value type. <br> | |
208 | <b>Default:</b> <tt>get(edge_weight, g)</tt><br> | |
209 | ||
210 | <b>Python</b>: Must be an <tt>edge_double_map</tt> for the graph.<br> | |
211 | <b>Python default</b>: <tt>graph.get_edge_double_map("weight")</tt> | |
212 | </blockquote> | |
213 | ||
214 | OUT: <tt>predecessor_map(PredecessorMap p_map)</tt> | |
215 | <blockquote> | |
216 | The predecessor map records the edges in the minimum spanning | |
217 | tree. Upon completion of the algorithm, the edges <i>(p[u],u)</i> | |
218 | for all <i>u in V</i> are in the minimum spanning tree. If <i>p[u] = | |
219 | u</i> then <i>u</i> is either the source vertex or a vertex that is | |
220 | not reachable from the source. The <tt>PredecessorMap</tt> type | |
221 | must be a <a | |
222 | href="../../property_map/doc/ReadWritePropertyMap.html">Read/Write | |
223 | Property Map</a> which key and vertex types the same as the vertex | |
224 | descriptor type of the graph.<br> | |
225 | <b>Default:</b> <tt>dummy_property_map</tt><br> | |
226 | ||
227 | <b>Python</b>: Must be a <tt>vertex_vertex_map</tt> for the graph.<br> | |
228 | </blockquote> | |
229 | ||
230 | IN/OUT: <tt>distance_map(DistanceMap d)</tt> | |
231 | <blockquote> | |
232 | The shortest path weight from the source vertex to each vertex in | |
233 | the graph <tt>g</tt> is recorded in this property map. The type | |
234 | <tt>DistanceMap</tt> must be a model of <a | |
235 | href="../../property_map/doc/ReadWritePropertyMap.html">Read/Write | |
236 | Property Map</a>. The key type of the property map must be the | |
237 | vertex descriptor type of the graph, and the value type of the | |
238 | distance map must be <a | |
239 | href="http://www.sgi.com/tech/stl/LessThanComparable.html"> Less | |
240 | Than Comparable</a>.<br> <b>Default:</b> <tt>get(vertex_distance, | |
241 | g)</tt><br> | |
242 | <b>Python</b>: Must be a <tt>vertex_double_map</tt> for the graph.<br> | |
243 | </blockquote> | |
244 | ||
245 | IN: <tt>root_vertex(Vertex s)</tt> | |
246 | <blockquote> | |
247 | The starting (or "root") vertex from which shortest paths will be | |
248 | computed. When provided, the distance map need not be initialized | |
249 | (the algorithm will perform the initialization itself). However, the | |
250 | graph must model <a href="./VertexListGraph.html">Vertex List | |
251 | Graph</a> when this parameter is provided.<br> | |
252 | <b>Default:</b> None; if omitted, the user must initialize the | |
253 | distance map. | |
254 | </blockquote> | |
255 | ||
256 | IN: <tt>visitor(BellmanFordVisitor v)</tt> | |
257 | <blockquote> | |
258 | The visitor object, whose type must be a model of | |
259 | <a href="./BellmanFordVisitor.html">Bellman-Ford Visitor</a>. | |
260 | The visitor object is passed by value <a | |
261 | href="#1">[1]</a>. | |
262 | <br> | |
263 | <b>Default:</b> <tt>bellman_visitor<null_visitor></tt><br> | |
264 | ||
265 | <b>Python</b>: The parameter should be an object that derives from | |
266 | the <a | |
267 | href="BellmanFordVisitor.html#python"><tt>BellmanFordVisitor</tt></a> type | |
268 | of the graph. | |
269 | ||
270 | </blockquote> | |
271 | ||
272 | IN: <tt>distance_combine(BinaryFunction combine)</tt> | |
273 | <blockquote> | |
274 | This function object replaces the role of addition in the relaxation | |
275 | step. The first argument type must match the distance map's value | |
276 | type and the second argument type must match the weight map's value | |
277 | type. The result type must be the same as the distance map's value | |
278 | type.<br> | |
279 | <b>Default:</b><tt>std::plus<D></tt> | |
280 | with <tt>D=typename property_traits<DistanceMap>::value_type</tt>.<br> | |
281 | ||
282 | <b>Python</b>: Unsupported parameter. | |
283 | </blockquote> | |
284 | ||
285 | IN: <tt>distance_compare(BinaryPredicate compare)</tt> | |
286 | <blockquote> | |
287 | This function object replaces the role of the less-than operator | |
288 | that compares distances in the relaxation step. The argument types | |
289 | must match the distance map's value type.<br> | |
290 | <b>Default:</b> <tt>std::less<D></tt> | |
291 | with <tt>D=typename property_traits<DistanceMap>::value_type</tt>.<br> | |
292 | ||
293 | <b>Python</b>: Unsupported parameter. | |
294 | </blockquote> | |
295 | ||
296 | <P> | |
297 | ||
298 | <H3>Complexity</H3> | |
299 | ||
300 | <P> | |
301 | The time complexity is <i>O(V E)</i>. | |
302 | ||
303 | ||
304 | <h3>Visitor Event Points</h3> | |
305 | ||
306 | <ul> | |
307 | <li><b><tt>vis.examine_edge(e, g)</tt></b> is invoked on every edge in | |
308 | the graph <i>|V|</i> times. | |
309 | <li><b><tt>vis.edge_relaxed(e, g)</tt></b> is invoked when the distance | |
310 | label for the target vertex is decreased. The edge <i>(u,v)</i> that | |
311 | participated in the last relaxation for vertex <i>v</i> is an edge in the | |
312 | shortest paths tree. | |
313 | <li><b><tt>vis.edge_not_relaxed(e, g)</tt></b> is invoked if the distance label | |
314 | for the target vertex is not decreased. | |
315 | <li><b><tt>vis.edge_minimized(e, g)</tt></b> is invoked during the | |
316 | second stage of the algorithm, during the test of whether each edge | |
317 | was minimized. If the edge is minimized then this function | |
318 | is invoked. | |
319 | <li><b><tt>vis.edge_not_minimized(e, g)</tt></b> is also invoked during the | |
320 | second stage of the algorithm, during the test of whether each edge | |
321 | was minimized. If the edge was not minimized, this function is | |
322 | invoked. This happens when there is a negative cycle in the graph. | |
323 | </ul> | |
324 | ||
325 | <H3>Example</H3> | |
326 | ||
327 | <P> | |
328 | An example of using the Bellman-Ford algorithm is in <a | |
329 | href="../example/bellman-example.cpp"><TT>examples/bellman-example.cpp</TT></a>. | |
330 | ||
331 | <h3>Notes</h3> | |
332 | ||
333 | <p><a name="1">[1]</a> | |
334 | Since the visitor parameter is passed by value, if your visitor | |
335 | contains state then any changes to the state during the algorithm | |
336 | will be made to a copy of the visitor object, not the visitor object | |
337 | passed in. Therefore you may want the visitor to hold this state by | |
338 | pointer or reference. | |
339 | ||
340 | <br> | |
341 | <HR> | |
342 | <TABLE> | |
343 | <TR valign=top> | |
344 | <TD nowrap>Copyright © 2000</TD><TD> | |
345 | <A HREF="http://www.boost.org/people/jeremy_siek.htm">Jeremy Siek</A>, Indiana University (<A HREF="mailto:jsiek@osl.iu.edu">jsiek@osl.iu.edu</A>) | |
346 | </TD></TR></TABLE> | |
347 | ||
348 | </BODY> | |
349 | </HTML> |