Extension of hpp::core::Roadmap. More...
#include <hpp/manipulation/roadmap.hh>
Public Types | |
typedef core::Roadmap | Parent |
Public Member Functions | |
void | insertHistogram (const graph::HistogramPtr_t hist) |
Register histogram so that each time a node is added to the roadmap, it is also added to the histogram. More... | |
void | constraintGraph (const graph::GraphPtr_t &graph) |
Register the constraint graph to do statistics. More... | |
void | clear () |
Clear the histograms and call parent implementation. More... | |
void | push_node (const core::NodePtr_t &n) |
Catch event 'New node added'. More... | |
RoadmapNodePtr_t | nearestNode (const ConfigurationPtr_t &configuration, const ConnectedComponentPtr_t &connectedComponent, const graph::StatePtr_t &state, value_type &minDistance) const |
Get the nearest neighbor in a given graph::Node and in a given ConnectedComponent. More... | |
graph::StatePtr_t | getNode (RoadmapNodePtr_t node) HPP_MANIPULATION_DEPRECATED |
Get graph state corresponding to given roadmap node. More... | |
void | connect (const LeafConnectedCompPtr_t &cc1, const LeafConnectedCompPtr_t &cc2) |
Update the graph of connected components after new connection. More... | |
void | merge (const LeafConnectedCompPtr_t &cc1, LeafConnectedComp::LeafConnectedComps_t &ccs) |
Merge two connected components. More... | |
graph::StatePtr_t | getState (RoadmapNodePtr_t node) |
Get graph state corresponding to given roadmap node. More... | |
const LeafConnectedComps_t & | leafConnectedComponents () const |
Get leaf connected components. More... | |
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NodePtr_t | addNode (const ConfigurationPtr_t &config) |
NodePtr_t | nearestNode (const ConfigurationPtr_t &configuration, value_type &minDistance, bool reverse=false) |
NodePtr_t | nearestNode (const ConfigurationPtr_t &configuration, const ConnectedComponentPtr_t &connectedComponent, value_type &minDistance, bool reverse=false) |
Nodes_t | nearestNodes (const ConfigurationPtr_t &configuration, size_type k) |
Nodes_t | nearestNodes (const ConfigurationPtr_t &configuration, const ConnectedComponentPtr_t &connectedComponent, size_type k) |
NodePtr_t | addNodeAndEdges (const NodePtr_t from, const ConfigurationPtr_t &to, const PathPtr_t path) |
NodePtr_t | addNodeAndEdge (const NodePtr_t from, const ConfigurationPtr_t &to, const PathPtr_t path) |
NodePtr_t | addNodeAndEdge (const ConfigurationPtr_t &from, const NodePtr_t to, const PathPtr_t path) |
EdgePtr_t | addEdge (const NodePtr_t &n1, const NodePtr_t &n2, const PathPtr_t &path) |
void | addEdges (const NodePtr_t from, const NodePtr_t &to, const PathPtr_t &path) |
NodePtr_t | addGoalNode (const ConfigurationPtr_t &config) |
void | resetGoalNodes () |
void | initNode (const ConfigurationPtr_t &config) |
virtual | ~Roadmap () |
bool | pathExists () const |
const Nodes_t & | nodes () const |
const Edges_t & | edges () const |
NodePtr_t | initNode () const |
const NodeVector_t & | goalNodes () const |
const ConnectedComponents_t & | connectedComponents () const |
NearestNeighborPtr_t | nearestNeighbor () |
void | nearestNeighbor (NearestNeighborPtr_t nearestNeighbor) |
std::ostream & | print (std::ostream &os) const |
const DistancePtr_t & | distance () const |
Static Public Member Functions | |
static RoadmapPtr_t | create (const core::DistancePtr_t &distance, const core::DevicePtr_t &robot) |
Return a shared pointer to a new instance. More... | |
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static RoadmapPtr_t | create (const DistancePtr_t &distance, const DevicePtr_t &robot) |
Protected Member Functions | |
void | statInsert (const RoadmapNodePtr_t &n) |
Register a new configuration. More... | |
Roadmap (const core::DistancePtr_t &distance, const core::DevicePtr_t &robot) | |
Constructor. More... | |
core::NodePtr_t | createNode (const ConfigurationPtr_t &config) const |
Node factory. More... | |
void | init (const RoadmapPtr_t &shPtr) |
virtual void | addEdge (const core::EdgePtr_t &edge) |
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Roadmap (const DistancePtr_t &distance, const DevicePtr_t &robot) | |
void | addConnectedComponent (const NodePtr_t &node) |
void | init (RoadmapWkPtr_t weak) |
Extension of hpp::core::Roadmap.
It adds the ability of doing statistics on the graph
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protected |
Constructor.
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protectedvirtual |
Reimplemented from hpp::core::Roadmap.
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virtual |
Clear the histograms and call parent implementation.
Reimplemented from hpp::core::Roadmap.
void hpp::manipulation::Roadmap::connect | ( | const LeafConnectedCompPtr_t & | cc1, |
const LeafConnectedCompPtr_t & | cc2 | ||
) |
Update the graph of connected components after new connection.
cc1,cc2 | the two connected components that have just been connected. |
void hpp::manipulation::Roadmap::constraintGraph | ( | const graph::GraphPtr_t & | graph | ) |
Register the constraint graph to do statistics.
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static |
Return a shared pointer to a new instance.
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protectedvirtual |
Node factory.
Reimplemented from hpp::core::Roadmap.
graph::StatePtr_t hpp::manipulation::Roadmap::getNode | ( | RoadmapNodePtr_t | node | ) |
Get graph state corresponding to given roadmap node.
graph::StatePtr_t hpp::manipulation::Roadmap::getState | ( | RoadmapNodePtr_t | node | ) |
Get graph state corresponding to given roadmap node.
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inlineprotected |
References init().
void hpp::manipulation::Roadmap::insertHistogram | ( | const graph::HistogramPtr_t | hist | ) |
Register histogram so that each time a node is added to the roadmap, it is also added to the histogram.
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inline |
Get leaf connected components.
Leaf connected components are composed of nodes
void hpp::manipulation::Roadmap::merge | ( | const LeafConnectedCompPtr_t & | cc1, |
LeafConnectedComp::LeafConnectedComps_t & | ccs | ||
) |
Merge two connected components.
cc1 | the connected component to merge into |
the | connected components to merge into cc1. |
RoadmapNodePtr_t hpp::manipulation::Roadmap::nearestNode | ( | const ConfigurationPtr_t & | configuration, |
const ConnectedComponentPtr_t & | connectedComponent, | ||
const graph::StatePtr_t & | state, | ||
value_type & | minDistance | ||
) | const |
Get the nearest neighbor in a given graph::Node and in a given ConnectedComponent.
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virtual |
Catch event 'New node added'.
Reimplemented from hpp::core::Roadmap.
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protected |
Register a new configuration.