17 #ifndef HPP_MANIPULATION_GRAPH_GRAPH_HH 18 # define HPP_MANIPULATION_GRAPH_GRAPH_HH 20 # include <boost/tuple/tuple.hpp> 28 namespace manipulation {
67 return stateSelector_;
95 void registerConstraints (
const ImplicitPtr_t& constraint,
96 const ImplicitPtr_t& complement,
97 const ImplicitPtr_t& both);
110 bool isComplement (
const ImplicitPtr_t& constraint,
111 const ImplicitPtr_t& complement,
112 ImplicitPtr_t& combinationOfBoth)
const;
174 bool getConfigErrorForEdgeLeaf
188 bool getConfigErrorForEdgeTarget
198 void maxIterations (
size_type iterations);
204 void errorThreshold (
const value_type& threshold);
221 hists_.push_back (hist);
231 GraphComponentWkPtr_t
get(std::size_t id)
const;
235 return components_.size();
242 virtual void initialize ();
245 virtual void invalidate();
249 void init (
const GraphWkPtr_t& weak,
DevicePtr_t robot);
256 std::ostream& print (std::ostream& os)
const;
279 typedef std::map < StatePtr_t, ConstraintSetPtr_t > MapFromState;
280 typedef std::pair < StatePtr_t, ConstraintSetPtr_t > PairStateConstraints;
281 MapFromState constraintSetMapFromState_;
287 typedef std::map < EdgePtr_t, ConstraintSetPtr_t > MapFromEdge;
288 typedef std::pair < EdgePtr_t, ConstraintSetPtr_t > PairEdgeConstraints;
289 MapFromEdge cfgConstraintSetMapFromEdge_, pathConstraintSetMapFromEdge_;
304 #endif // HPP_MANIPULATION_GRAPH_GRAPH_HH StateHistogram NodeHistogram HPP_MANIPULATION_DEPRECATED
Definition: statistics.hh:200
const Histograms_t & histograms() const
Get the histograms.
Definition: graph.hh:225
std::vector< EdgePtr_t > Edges_t
Definition: fwd.hh:46
boost::shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:112
boost::shared_ptr< StateSelector > StateSelectorPtr_t
Definition: fwd.hh:40
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:38
core::vector_t vector_t
Definition: fwd.hh:82
boost::shared_ptr< State > StatePtr_t
Definition: fwd.hh:36
core::value_type value_type
Definition: fwd.hh:79
void insertHistogram(const graph::HistogramPtr_t &hist)
Register an histogram representing a foliation.
Definition: graph.hh:219
std::vector< ConstraintAndComplement_t > ConstraintsAndComplements_t
Definition: constraint-set.hh:79
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
core::ConstraintPtr_t ConstraintPtr_t
Definition: fwd.hh:102
boost::shared_ptr< Histogram > HistogramPtr_t
Definition: fwd.hh:58
std::list< HistogramPtr_t > Histograms_t
Definition: fwd.hh:62
std::size_t nbComponents() const
Definition: graph.hh:233
boost::shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:55
boost::shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:29
StateSelectorPtr_t stateSelector() const
Get the state selector.
Definition: graph.hh:65
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:105
boost::shared_ptr< Edge > EdgePtr_t
Definition: fwd.hh:37
core::size_type size_type
Definition: fwd.hh:80
Define common methods of the graph components.
Definition: graph-component.hh:39
boost::shared_ptr< Graph > GraphPtr_t
Definition: fwd.hh:35
std::vector< GraphComponentWkPtr_t > GraphComponents_t
Definition: fwd.hh:44
Definition: roadmap-node.hh:32