Edge that find intersection of level set. More...
#include <hpp/manipulation/graph/edge.hh>
Public Member Functions | |
virtual | ~LevelSetEdge () |
virtual bool | applyConstraints (ConfigurationIn_t qoffset, ConfigurationOut_t q) const |
Apply edge constraint. More... | |
virtual bool | applyConstraints (core::NodePtr_t n_offset, ConfigurationOut_t q) const |
Apply edge constraint. More... | |
virtual ConstraintSetPtr_t | buildConfigConstraint () |
void | buildHistogram () |
LeafHistogramPtr_t | histogram () const |
virtual std::ostream & | dotPrint (std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const |
Print the object in a stream. More... | |
Foliation definition | |
void | insertParamConstraint (const NumericalConstraintPtr_t &nm, const segments_t &passiveDofs=segments_t()) |
Insert a NumericalConstraint that parametrizes the foliation. More... | |
void | insertParamConstraint (const DifferentiableFunctionPtr_t function, const ComparisonTypes_t ineq) HPP_MANIPULATION_DEPRECATED |
void | insertParamConstraint (const LockedJointPtr_t lockedJoint) |
Insert a LockedJoint that parametrizes the foliation. More... | |
void | insertConditionConstraint (const NumericalConstraintPtr_t &nm, const segments_t &passiveDofs=segments_t()) |
Insert a NumericalConstraint that defines the foliation. More... | |
void | insertConditionConstraint (const LockedJointPtr_t lockedJoint) |
Insert a LockedJoint that defines the foliation. More... | |
![]() | |
virtual | ~Edge () |
Destructor. More... | |
virtual bool | canConnect (ConfigurationIn_t q1, ConfigurationIn_t q2) const |
virtual bool | build (core::PathPtr_t &path, ConfigurationIn_t q1, ConfigurationIn_t q2) const |
StatePtr_t | to () const |
Get the destination. More... | |
StatePtr_t | from () const |
Get the origin. More... | |
StatePtr_t | state () const |
Get the state in which path is. More... | |
void | state (StatePtr_t state) |
const core::SteeringMethodPtr_t & | steeringMethod () const |
Get steering method associated to the edge. More... | |
const core::PathValidationPtr_t & | pathValidation () const |
Get path validation associated to the edge. More... | |
const RelativeMotion::matrix_type & | relativeMotion () const |
virtual bool | direction (const core::PathPtr_t &path) const |
Get direction of the path compare to the edge. More... | |
virtual bool | intersectionConstraint (const EdgePtr_t &other, ConfigProjectorPtr_t projector) const |
Populate a ConfigProjector with constraints required to generate a path at the intersection of two edges. More... | |
ConstraintSetPtr_t | configConstraint () const |
Constraint of the destination state and of the path. More... | |
void | setShort (bool isShort) |
bool | isShort () const |
![]() | |
virtual | ~GraphComponent () |
const std::string & | name () const |
Get the component name. More... | |
const std::size_t & | id () const |
Return the component id. More... | |
virtual void | addNumericalConstraint (const NumericalConstraintPtr_t &numConstraint, const segments_t &passiveDofs=segments_t()) |
Add core::NumericalConstraint to the component. More... | |
virtual void | addNumericalConstraint (const DifferentiableFunctionPtr_t &function, const ComparisonTypes_t &ineq) HPP_MANIPULATION_DEPRECATED |
Add core::DifferentiableFunction to the component. More... | |
virtual void | resetNumericalConstraints () |
Reset the numerical constraints stored in the component. More... | |
virtual void | addLockedJointConstraint (const LockedJointPtr_t &constraint) |
Add core::LockedJoint constraint to the component. More... | |
virtual void | resetLockedJoints () |
Reset the locked joint in the component. More... | |
bool | insertNumericalConstraints (ConfigProjectorPtr_t &proj) const |
Insert the numerical constraints in a ConfigProjector. More... | |
bool | insertLockedJoints (ConfigProjectorPtr_t &cs) const |
Insert the LockedJoint constraints in a ConstraintSet. More... | |
const NumericalConstraints_t & | numericalConstraints () const |
Get a reference to the NumericalConstraints_t. More... | |
const IntervalsContainer_t & | passiveDofs () const |
Get a reference to the NumericalConstraints_t. More... | |
const LockedJoints_t & | lockedJoints () const |
Get a reference to the LockedJoints_t. More... | |
void | parentGraph (const GraphWkPtr_t &parent) |
Set the parent graph. More... | |
GraphPtr_t | parentGraph () const |
Set the parent graph. More... | |
void | setDirty () |
Declare a component as dirty. More... | |
Static Public Member Functions | |
static LevelSetEdgePtr_t | create (const std::string &name, const GraphWkPtr_t &graph, const StateWkPtr_t &from, const StateWkPtr_t &to) |
Create a new LevelSetEdge. More... | |
![]() | |
static EdgePtr_t | create (const std::string &name, const GraphWkPtr_t &graph, const StateWkPtr_t &from, const StateWkPtr_t &to) |
Create a new empty Edge. More... | |
Protected Member Functions | |
void | init (const LevelSetEdgeWkPtr_t &weak, const GraphWkPtr_t &graph, const StateWkPtr_t &from, const StateWkPtr_t &to) |
Initialization of the object. More... | |
LevelSetEdge (const std::string &name) | |
virtual std::ostream & | print (std::ostream &os) const |
Print the object in a stream. More... | |
virtual void | populateTooltip (dot::Tooltip &tp) const |
Populate DrawingAttributes tooltip. More... | |
virtual void | initialize () |
![]() | |
void | init (const EdgeWkPtr_t &weak, const GraphWkPtr_t &graph, const StateWkPtr_t &from, const StateWkPtr_t &to) |
Initialization of the object. More... | |
Edge (const std::string &name) | |
Constructor. More... | |
ConstraintSetPtr_t | pathConstraint () const |
Constraint to project a path. More... | |
virtual ConstraintSetPtr_t | buildPathConstraint () |
![]() | |
void | init (const GraphComponentWkPtr_t &weak) |
Initialize the component. More... | |
GraphComponent (const std::string &name) | |
void | throwIfNotInitialized () const |
Additional Inherited Members | |
![]() | |
typedef core::RelativeMotion | RelativeMotion |
![]() | |
bool | isShort_ |
![]() | |
NumericalConstraints_t | numericalConstraints_ |
Stores the numerical constraints. More... | |
IntervalsContainer_t | passiveDofs_ |
Stores the passive dofs for each numerical constraints. More... | |
LockedJoints_t | lockedJoints_ |
List of LockedJoint constraints. More... | |
GraphWkPtr_t | graph_ |
A weak pointer to the parent graph. More... | |
bool | isInit_ |
Edge that find intersection of level set.
|
virtual |
|
protected |
|
virtual |
Apply edge constraint.
qoffset | configuration defining the right hand side of the edge constraint, | |
[in,out] | q | configuration to which the edge constraint is applied. |
Reimplemented from hpp::manipulation::graph::Edge.
|
virtual |
Apply edge constraint.
nnear | node containing the configuration defining the right hand side of the edge constraint, | |
[in,out] | q | configuration to which the edge constraint is applied. |
Reimplemented from hpp::manipulation::graph::Edge.
|
virtual |
Reimplemented from hpp::manipulation::graph::Edge.
void hpp::manipulation::graph::LevelSetEdge::buildHistogram | ( | ) |
|
static |
Create a new LevelSetEdge.
|
virtual |
Print the object in a stream.
Reimplemented from hpp::manipulation::graph::Edge.
LeafHistogramPtr_t hpp::manipulation::graph::LevelSetEdge::histogram | ( | ) | const |
|
protected |
Initialization of the object.
|
protectedvirtual |
Reimplemented from hpp::manipulation::graph::Edge.
void hpp::manipulation::graph::LevelSetEdge::insertConditionConstraint | ( | const NumericalConstraintPtr_t & | nm, |
const segments_t & | passiveDofs = segments_t() |
||
) |
Insert a NumericalConstraint that defines the foliation.
The manifold represented the foliation is defined by this constraints.
void hpp::manipulation::graph::LevelSetEdge::insertConditionConstraint | ( | const LockedJointPtr_t | lockedJoint | ) |
Insert a LockedJoint that defines the foliation.
The manifold represented the foliation is defined by this constraints.
void hpp::manipulation::graph::LevelSetEdge::insertParamConstraint | ( | const NumericalConstraintPtr_t & | nm, |
const segments_t & | passiveDofs = segments_t() |
||
) |
Insert a NumericalConstraint that parametrizes the foliation.
void hpp::manipulation::graph::LevelSetEdge::insertParamConstraint | ( | const DifferentiableFunctionPtr_t | function, |
const ComparisonTypes_t | ineq | ||
) |
void hpp::manipulation::graph::LevelSetEdge::insertParamConstraint | ( | const LockedJointPtr_t | lockedJoint | ) |
Insert a LockedJoint that parametrizes the foliation.
|
protectedvirtual |
Populate DrawingAttributes tooltip.
Reimplemented from hpp::manipulation::graph::GraphComponent.
|
protectedvirtual |
Print the object in a stream.
Reimplemented from hpp::manipulation::graph::Edge.