17 #ifndef HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH 18 # define HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH 30 namespace manipulation {
45 const std::string& name()
const;
48 const std::size_t&
id ()
const 56 virtual void addNumericalConstraint (
57 const ImplicitPtr_t& numConstraint,
61 virtual void addNumericalCost (
const ImplicitPtr_t& numCost);
64 virtual void resetNumericalConstraints ();
69 virtual void addLockedJointConstraint
104 void parentGraph(
const GraphWkPtr_t& parent);
125 void init (
const GraphComponentWkPtr_t& weak);
145 void throwIfNotInitialized ()
const;
148 virtual std::ostream& print (std::ostream& os)
const;
154 virtual void initialize() = 0;
160 GraphComponentWkPtr_t wkPtr_;
175 #endif // HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH StateHistogram NodeHistogram HPP_MANIPULATION_DEPRECATED
Definition: statistics.hh:200
NumericalConstraints_t numericalCosts_
Stores the numerical costs.
Definition: graph-component.hh:137
GraphWkPtr_t graph_
A weak pointer to the parent graph.
Definition: graph-component.hh:141
const std::size_t & id() const
Return the component id.
Definition: graph-component.hh:48
virtual void invalidate()
Definition: graph-component.hh:114
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
hpp::core::segments_t segments_t
Definition: fwd.hh:51
virtual ~GraphComponent()
Definition: graph-component.hh:42
core::ConfigProjectorPtr_t ConfigProjectorPtr_t
Definition: fwd.hh:110
std::ostream & operator<<(std::ostream &os, const GraphComponent &graphComp)
hpp::core::LockedJoints_t LockedJoints_t
Definition: fwd.hh:54
IntervalsContainer_t passiveDofs_
Stores the passive dofs for each numerical constraints.
Definition: graph-component.hh:135
GraphComponent(const std::string &name)
Definition: graph-component.hh:127
constraints::LockedJointPtr_t LockedJointPtr_t
Definition: fwd.hh:107
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:105
hpp::core::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:53
NumericalConstraints_t numericalConstraints_
Stores the numerical constraints.
Definition: graph-component.hh:133
Define common methods of the graph components.
Definition: graph-component.hh:39
boost::shared_ptr< Graph > GraphPtr_t
Definition: fwd.hh:35
std::vector< segments_t > IntervalsContainer_t
Definition: fwd.hh:52
const LockedJoints_t lockedJoints_
List of LockedJoint constraints:
Definition: graph-component.hh:139
bool isInit_
Definition: graph-component.hh:143