Interface: Graph.IDirectedGraph

// for vertices with undefined "data" (no data associated with each vertex)
const undefGraph = mpSdk.Graph.createDirectedGraph<undefined>();
graph.addVertex(
  { id: 'a' },
  { id: 'b' },
);

// for vertices with any other data
const graph = mpSdk.Graph.createDirectedGraph<number>();
graph.addVertex(
  { id: 'a', data: 1 },
  { id: 'b', data: 2 },
);

graph.commit();

graph.dispose();
// graph.vertexCount === 0
// graph.edgeCount === 0

const edge = graph.edge(a, b);
if (edge) {
  console.log(`Found an edge from "${edge.src.id}" to "${edge.dst.id}" with weight ${edge.weight}`);
}

if (graph.hasEdge(a, b)) {
  console.log('an edge from "a" to "b" was found');
}

if (graph.hasVertex('a')) {
  console.log('a vertex with id "a" was found');
}

After this graph's edges have been updated using setEdge or removeEdge, the observer attached will have its onChanged function called when commit is called.

graph.onEdgesChanged({
  onChanged() {
    console.log(`this graph's edges have changed`);
  }
});

After this graph's vertices have been updated using addVertex or removeVertex, the observer attached will have its onChanged function called when commit is called.

graph.onVerticesChanged({
  onChanged() {
    console.log(`this graph's vertices have changed`);
  }
});

graph.removeEdge(e1, e2);

graph.removeVertex(a, b);

If an error is thrown, the graph is left untouched, no edges are added.

graph.setEdge(
  { src: a, dst: b, weight: 5  },
  { src: b, dst: c, weight: 10 },
);

// update edge ab
graph.setEdge(
  { src: a, dst: b, weight: 10 },
);

const a = graph.vertex('a');
if (a) {
  console.log(`Found a vertex with id "${a.id}"`);
}

Note: If you need a graph of enabled sweeps, use Sweep.createGraph instead of the code snippet below

// create a graph of enabled sweeps
const graph = mpSdk.createGraph();
const sub = graph.watch({
  collection: mpSdk.Sweep.collection,
  isNeighborOf(sweepSrc, sweepDst) {
    return sweepSrc.data.neighbors.includes(sweepDst.id);
  },
  neighborsOf(sweepVertex) {
    return sweepVertex.data.neighbors.values();
  },
  weightBetween(sweepSrc, sweepDst) {
    const dx = sweepDst.data.position.x - sweepSrc.data.position.x;
    const dy = sweepDst.data.position.y - sweepSrc.data.position.y;
    const dz = sweepDst.data.position.z - sweepSrc.data.position.z;
    return Math.sqrt(dx ** 2 + dy ** 2 + dz ** 2);
  },
  shouldAdd(sweep) {
    return sweep.enabled;
  },
});

// some time later when the graph no longer needs updating
sub.cancel();